EKF localization based on TDOA/RSS in underground mines using UWB ranging

Ultra-Wideband technology is regarded by many as one of the future key technologies in communications and positioning. In this paper an EKF based on TDOA/RSS positioning algorithm is described for accurate underground mine localization of a sensor in a network of known beacons. The sensor measures the range to the beacons using an Ultra-Wideband (UWB) signal and uses statistical inference to correct for the error due to multipath and NLOS in underground mine. It shows that an EKF based on TDOA/RSS algorithm can be used to improved positioning accuracy over beacon measurement. Simulation results show perfect performance with UWB ranging and EKF based on TDOA/RSS positioning algorithm.