Handbook of position location : theory, practice, and advances / edited by S.A. (Reza) Zekavat and R. Michael Buehrer.

ABOUT THE AUTHOR
S. A. (REZA) ZEKAVAT is currently a visiting professor at Worcester Polytechnic Institute (WPI). He is a Professor and the founder of the wireless positioning lab at Michigan Tech. His research has been supported by many federal agencies such as National Science Foundation, ARL, CERDEC, and companies such as Ford Motors, and National Instruments. Dr. Zekavat has served as the Editor of many Journals including IET Wireless Sensor Systems, IET Communications, and Springer Int. Journal on Wireless Information Networks. He has also served on the Executive Committee of many IEEE Conferences such as PIMRC, WiSEE, SPAWC, and ISMICT.

R. MICHAEL BUEHRER is a Professor in the Bradley Department of Electrical and Computer Engineering at Virginia Tech and the director of Wireless @ Virginia Tech. His research has been sponsored by many federal agencies including ARL, DARPA, ONR and NSF, and companies such as Lockheed Martin, Qualcomm and Motorola. He is a Fellow of the IEEE.

Includes bibliographical references and index.

Preface xiii

Contributors xxiii

About the Companion Website xxv

Part I Fundamentals of Position Location

Chapter 1 Wireless Positioning Systems: Operation, Application, and Comparison 3
S. A. (Reza) Zekavat, Michigan Technological University, Stuti Kansal, Michigan Technological University, Allen H. Levesque, Worcester Polytechnic Institute

Chapter 2 Localization Sensor Error Measures and Analysis 25
Mojtaba Bahramgiri, Michigan Technological University, S. A. (Reza) Zekavat, Michigan Technological University

Chapter 3 Source Localization: Algorithms and Analysis 59
H. C. So, City University of Hong Kong

Chapter 4 Channel Modeling and Its Impact on Localization 107
S. A. (Reza) Zekavat, Michigan Technological University

Chapter 5 An Introduction to Kalman Filtering Implementation for Localization and Tracking Applications 143
Shu Ting Goh, S. A. (Reza) Zekavat, Ossama Abdelkhalik

Part II TOA and DOA Based Positioning

Chapter 6 Fundamentals of Time-of-Arrival-Based Position Location 199
R. Michael Buehrer, Virginia Tech, Swaroop Venkatesh, Virginia Tech

Chapter 7 TOA Estimation Techniques: a Comparison 237
Mohsen Pourkhaatoun, Michigan Technological University, S. A. (Reza) Zekavat, Michigan Technological University

Chapter 8 Wireless Localization Using Ultra-Wideband Signals 269
Liuqing Yang, Colorado State University, Huilin Xu, QUALCOMM Incorporated

Chapter 9 An Introduction to Direction-of-Arrival Estimation Techniques 303
S. A. (Reza) Zekavat, Michigan Technological University

Chapter 10 Positioning in Inhomogeneous Media 343
Mohsen Jamalabdollahi, Michigan Tech, S. A. (Reza) Zekavat, Michigan Tech

Part III Received Signal Strength Based Positioning

Chapter 11 Fundamentals of Received Signal Strength-Based Position Location 369
Jeong Heon Lee, Virginia Tech, R. Michael Buehrer, Virginia Tech

Chapter 12 On the Performance of Wireless Indoor Localization Using Received Signal Strength 405
Jie Yang, Florida State University, Yingying Chen, Rutgers University, Richard P. Martin, Rutgers University, Wade Trappe, Rutgers University, Marco Gruteser, Rutgers University

Chapter 13 Impact of Anchor Placement and Anchor Selection on Localization Accuracy 435
Yingying Chen, Rutgers University, Jie Yang, Florida State University, Wade Trappe, Rutgers University, Richard P. Martin, Rutgers University

Chapter 14 Kernel Methods for RSS-Based Indoor Localization 467
Piyush Agrawal, University of Utah, Neal Patwari, University of Utah

Chapter 15 Fingerprinting Location Techniques 497
Rafael Saraiva Campos, Centro Federal de Educação Tecnológica Celso Suckow da Fonseca, Lisandro Lovisolo, Universidade do Estado do Rio de Janeiro

Part IV LOS/NLOS Localization – Identification – Mitigation

Chapter 16 NLOS Identification and Localization 533
Wenjie Xu, Michigan Technological University, Zhonghai Wang, Michigan Technological University, S. A. (Reza) Zekavat, Michigan Technological University

Chapter 17 NLOS Mitigation Methods for Geolocation 567
Joni Polili Lie, Nanyang Technological University, Chin-Heng Lim, Nanyang Technological University, Chong-Meng Samson See, Nanyang Technological University, DSO National Laboratories

Chapter 18 Mobile Position Estimation Using Received Signal Strength and Time of Arrival in Mixed LOS/NLOS Environments 593
Bamrung Tau Sieskul, University of Vigo, Feng Zheng, Leibniz University of Hannover, Thomas Kaiser, University of Duisburg Essen

Chapter 19 Mobile Tracking in Mixed Line-of-Sight/Non-Line-of-Sight Conditions: Algorithms and Theoretical Lower Bound 629
Liang Chen, Wuhan University, Simo Ali-Löytty, Tampere University of Technology, Robert Piché, Tampere University of Technology, Lenan Wu, Southeast University

Part V Global Positioning

Chapter 20 Overview of Global Positioning Systems 655
Fabio Dovis, Politecnico di Torino, Davide Margaria, Istituto Superiore Mario Boella, Paolo Mulassano, Istituto Superiore Mario Boella, Fabrizio Dominici, Istituto Superiore Mario Boella

Chapter 21 Digital Signal Processing for GNSS Receivers 707
Letizia Lo Presti, Politecnico di Torino, Maurizio Fantino, Istituto Superiore Mario Boella, Marco Pini, Istituto Superiore Mario Boella

Chapter 22 Kalman Filter-based Approaches for Positioning: Integrating Global Positioning with Inertial Sensors 763
Emanuela Falletti, Istituto Superiore Mario Boella, Gianluca Falco, Istituto Superiore Mario Boella

Chapter 23 An overview on Global Positioning Techniques for Harsh Environments 839
Nicola Linty, Politecnico di Torino, Fabio Dovis, Politecnico di Torino

Part VI Network Localization

Chapter 24 Collaborative Position Location 885
R. Michael Buehrer, Virginia Tech, Tao Jia, Virginia Tech

Chapter 25 Polynomial-Based Methods for Localization in Multiagent Systems 943
Iman Shames, The Australian National University and The University of Melbourne, Baris¸ Fidan, University of Waterloo, Brian D. O. Anderson, The Australian National University and The University of Melbourne, Hatem Hmam, Defence Science & Technology Organisation

Chapter 26 Belief Propagation Techniques for Cooperative Localization in Wireless Sensor Networks 967

Vladimir Savic, Technical University of Madrid, Chalmers University of Technology, Santiago Zazo, Technical University of Madrid

Chapter 27 Err or Characteristics of Ad Hoc Positioning Systems 999
Dragos¸ Niculescu, University Politehnica of Bucharest

Chapter 28 Self-Localization of UAV Formations Using Bearing Measurements 1027
Iman Shames, The Australian National University and The University of Melbourne, Barıs˛ Fidan, University of Waterloo, Brian D. O. Anderson, The Australian National University and The University of Melbourne, Hatem Hmam, Defence Science and Technology Organisation

Part VII Special Topics and Applications

Chapter 29 Localization for Autonomous Driving 1051
Ami Woo, University of Waterloo, Baris Fidan, University of Waterloo, William W. Melek, University of Waterloo

Chapter 30 RFID-Based Autonomous Mobile Robot Navigation 1089
Sunhong Park, Smart Vehicle Technology Research Center, Guillermo Enriquez, Advanced Science and Engineering
Shuji Hashimoto, Advanced Science and Engineering

Chapter 31 Visible Light-Based Communication and Localization 1121
Lisandro Lovisolo, Rio de Janeiro State University (UERJ), Michel P. Tcheou & Flávio R. Ávila, Rio de Janeiro State University (UERJ)

Chapter 32 Positioning in LTE 1165
Ari Kangas, Ericsson AB, Iana Siomina, Ericsson AB, Torbjörn Wigren, Ericsson AB

Chapter 33 Automated Wildlife Radio Tracking 1219
Dr. Robert B. MacCurdy, University of Colorado, Dr. Allert I. Bijleveld, NIOZ Royal Netherlands Institute for Sea Research Texel, Richard M. Gabrielson, Cornell University, Dr. Kathryn A. Cortopassi, Cornell University

Chapter 34 Wireless Local Positioning Systems 1263
S. A. (Reza) Zekavat, Michigan Technological University

Chapter 35 N ear-Ground Channel Modeling with Applications in Wireless Sensor Networks and Autonomous Driving 1289
Amir Torabi, Michigan Technological University, S. A. (Reza) Zekavat, Michigan Technological University

Index 1309

"The most comprehensive reference on wireless localization technology, featuring theory, current practice, and application examples. This authoritative handbook reviews both classic and emerging position location techniques, presenting unique, in-depth coverage from fundamentals of coordinates to advanced application examples. Featuring contributions from dozens of researchers from around the world, it provides the breadth of knowledge needed for readers who need to get up to speed in the fundamentals of wireless localization or who are involved in its emerging applications in such key areas as homeland security, law enforcement, emergency response, defense command and control, and multi-robot coordination. This invaluable handbook is comprised of seven parts: Part I reviews the basic techniques and research topics in position localization; Part II details TOA and DOA localization methods, introducing important measures that compare different estimation techniques; Part III studies the fundamentals of received signal strength-based positioning methods and their potential for indoor localization; Part IV examines non-line-of-sight identification, mitigation, and localization methods, highlighting many novel techniques; Part V reviews mobility and tracking using Kalman Filtering techniques, including their application in indoor localization and GNSS systems; Part VI covers several topics in the area of network-based or cooperative localization, introducing techniques such as infrastructure-free local and wireless local positioning systems; Part VII includes several novel applications of position location systems, offering many techniques and methods including GNSS and RFID-based localization systems and wireless local positioning systems. Many chapters feat ure useful MATLAB examples and their solutions; the examples have been designed to help readers learn fundamental algorithms for positioning and to begin their research more quickly. All MATLAB code is available online for download at: ftp://ftp.wiley.com/public/sci_tech_med/matlab_codes . Handbook of Position Location allows any working engineer or graduate student to quickly come up to speed in these systems. It also helps university professors teach the fundamentals of wireless localization."--Publisher's description