Enabling optimization-based localization for IoT devices

Beuchat, P. N., Hesse, H. , Domahidi, A. and Lygeros, J. (2019) Enabling optimization-based localization for IoT devices. IEEE Internet of Things Journal, 6(3), pp. 5639-5650. (doi: 10.1109/JIOT.2019.2904559)

197086.pdf - Accepted Version



In this paper, we propose an embedded optimization approach for the localization of Internet of Things (IoT) devices making use of range measurements from ultra-wideband (UWB) signals. Low-cost, low-power UWB radios provide time-of-arrival measurements with decimeter accuracy over large distances. UWB-based localization methods have been envisioned to enable feedback control in IoT applications, particularly, in GPS-denied environments, and large wireless sensor networks. In this paper, we formulate the localization task as a nonlinear least-squares optimization problem based on two-way time-of-arrival measurements between the IoT device and several UWB radios installed in a 3-D environment. For the practical implementation of large-scale IoT deployments we further assume only approximate knowledge of the UWB radio locations. We solve the resulting optimization problem directly on IoT devices equipped with off-the-shelf microcontrollers using state-of-the-art code generation techniques for plug-and-play deployment of the nonlinear-programming algorithms. This paper further provides practical implementation details to improve the localization accuracy for feedback control in experimental IoT applications. The experimental results finally show that subdecimeter localization accuracy can be achieved using the proposed optimization-based approach, even when the majority of the UWB radio locations are unknown.

Item Type:Articles
Glasgow Author(s) Enlighten ID:Hesse, Dr Henrik
Authors: Beuchat, P. N., Hesse, H., Domahidi, A., and Lygeros, J.
College/School:College of Science and Engineering > School of Engineering > Autonomous Systems and Connectivity
Journal Name:IEEE Internet of Things Journal
ISSN (Online):2327-4662
Published Online:12 March 2019
Copyright Holders:Copyright © 2019 IEEE
First Published:First published in IEEE Internet of Things Journal 6(3): 5639-5650
Publisher Policy:Reproduced in accordance with the publisher copyright policy

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