Kalman Filter based Range Estimation and Clock Synchronization for Ultra Wide Band Networks
Nushen M. Senevirathna,Oscar De Silva,George K. I. Mann,Raymond G. Gosine,Nushen M. Senevirathna,Oscar De Silva,George K. I. Mann,Raymond G. Gosine
This paper presents the development of a Kalman filter-based range estimation technique to precisely calculate the inter-node ranges of Ultra Wide Band (UWB) modules. Relative clock tracking filters running between every anchor pair tracks relative clock dynamics while estimating the time of flight as a filter state. Both inbound and outbound message timestamps are used to update the filter to mak...
