Anchor-Aided Joint Localization and Synchronization Using SOOP: Theory and Experiments

We consider the problem of tracking a receiver using signals-of-opportunity (SOOPs) from beacons and a reference anchor with known positions and velocities, and where all devices have asynchronous local clocks or oscillators. We model the clock drift at individual devices by a two-state model with u...

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Bibliographic Details
Published in:IEEE transactions on wireless communications 2016-11, Vol.15 (11), p.7670-7685
Main Authors: Mei Leng, Quitin, Francois, Wee Peng Tay, Chi Cheng, Razul, Sirajudeen Gulam, Samson See, Chong Meng
Format: Article
Language:English
Subjects:
Beacons
Clocks
EKF
Extended Kalman filter
Extraterrestrial measurements
Geo-localization
Iridium
Iridium network
Receivers
Satellite broadcasting
Satellite tracking
Satellites
signal-of-opportunity
Software radio
Synchronism
Synchronization
USRP
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Summary:We consider the problem of tracking a receiver using signals-of-opportunity (SOOPs) from beacons and a reference anchor with known positions and velocities, and where all devices have asynchronous local clocks or oscillators. We model the clock drift at individual devices by a two-state model with unknown clock offset and clock skew and analyze the biases introduced by clock asynchronism in the received signals. Based on an extended Kalman filter, we propose a sequential estimator to jointly track the receiver location, velocity, and its clock parameters using altitude information together with time-difference-of-arrival and frequency-difference-of-arrival measurements obtained from the SOOP samples collected by the receiver and a reference anchor. The receiver was implemented on a software-defined radio testbed, and field experiments are carried out using Iridium satellites as the SOOP beacons. The experiment and simulation results demonstrate that our measurement model has a good fit, and our proposed estimator can successfully track both the receiver location, velocity, and the relative clock offset and skew with respect to the reference anchor with good accuracy.
ISSN:1536-1276
1558-2248
DOI:10.1109/TWC.2016.2606099