Ground based wireless positioning 14.8 Neyman Pearson Test 14.9 Joint Time of Arrival and Received Signal Strength based Approaches 14.10 Angle of Arrival based Methods Annex 14.A: Proofs of Theorems and Corollary Annex 14.B: Derivation of the Probability of Detection References Appendix A: Hyperbolic Navigation A.1 Analytical Equations of a Hyperbola A.2 Solution to Hyperbolic Navigation A.3 Solution to Example Problem Appendix B: Radio Propagation Measurement Techniques B.1 Measurements with a Network Analyzer B.1.1 Measurements with a Reference Cable B.1.2 Calibration of Antennas B.1.3 Propagation Measurements B.2 Time Domain Measurements Index 9.4 Accuracy Probabilities 9.5 Special Cases: Analytical Solutions to Geometric Dilution of Precision 9.6 Geometric Dilution of Precision Performance References 10 Multipath Mitigation 10.1 Residual Weighting based Method 10.2 Filtering based Method 10.3 Constrained Optimization 10.4 Scatterer based Method 10.5 Error Statistics 10.6 Propagation Model based Method 10.7 Pattern Matching 10.8 Performance Analysis Annex 10.A: Sequential Quadratic Programming Algorithm Annex 10.B: Equation Coefficients References 11 Anchor based Localization for Wireless Sensor Networks 11.1 Characteristics of Wireless Sensor Networks 11.2 Coarse Localization Methods 11.3 Global Localization Methods 11.4 Localization with Unknown Internal Delays and Clock Offsets References 12 Anchor Position Accuracy Enhancement 12.1 Impact of Anchor Location Accuracy on Sensor Node Localization 12.2 Line of Sight and Non Line of Sight Propagation Models 12.3 Anchor Position Accuracy Bound 12.4 Accuracy Improvement Based on Distance and Angle Estimates 12.5 Accuracy Improvement Based on Distance Estimates Annex 12.A: Definition of Matrix and Vector in Line of Sight Conditions Annex 12.B: Definition of Matrix and Vector in Non Line of Sight Conditions References 13 Anchor free Localization 13.1 Robust Quads 13.2 Multidimensional Scaling Method 13.3 Mass Spring Model 13.4 Hybrid Approach 13.5 Graphical Model 13.6 Clustering and Stitching 13.7 Referent Coordinate System Establishment 13.8 Cramer Rao Lower Bound 13.9 Accuracy of Location Estimates 13.10 Distance Error based Accuracy Measure 13.11 Accuracy Evaluation References 14 Non Line of Sight Identification 14.1 Data Smoothing 14.2 Distribution Tests 14.3 Calculating Level Crossing Rate and Fade Duration 14.4 Estimating the Rician Factor 14.5 Generalized Likelihood Ratio Test 14.6 Nonparametric Method 14.7 Using Intermediate Location Estimation Ground Based Wireless Positioning provides an in depth treatment of non GPS based wireless positioning techniques with a balance between theory and engineering practice. The book presents the architecture design and testing of a variety of wireless positioning systems based on the time of arrival signal strength and angle of arrival measurements. These techniques are essential for developing accurate wireless positioning systems which can operate reliably in both indoor and outdoor environments where the Global Positioning System (GPS) proves to be inadequate. The book covers a wide range of issues including radio propagation parameter identification statistical signal processing optimization and localization in large and multi hop networks. A comprehensive study on the state of the art techniques and methodologies in wireless positioning and tracking is provided including anchor based and anchor free localisation in wireless sensor networks (WSN). The authors address real world issues such as multipath non line of sight (NLOS) propagation accuracy limitations and measurement errors. Presenting the latest advances in the field Ground Based Wireless Positioning is one of the first books to cover non GPS based technologies for wireless positioning. It serves as an indispensable reference for researchers and engineers specialising in the fields of localization and tracking and wireless sensor networks. . Provides a comprehensive treatment of methodologies and algorithms for positioning and tracking. Includes practical issues and case studies in designing real wireless positioning systems. Explains non line of sight (NLOS) radio propagation and NLOS mitigation techniques. Balances solid theory with engineering practice of non GPS wireless systems About the Authors Preface Acknowledgments 1 Introduction 1.1 Introduction to Radio Positioning 1.2 Short and Medium range Radiolocation Technologies 1.3 Overview of the Book References 2 Radio Propagation 2.1 Statistical Multipath Theory 2.2 Radio Propagation Characteristics at Different Distance Scales 2.3 Measurements 2.4 Excess Delays in Radio Propagation 2.5 Antenna Effects References 3 Signal Detection by Correlation 3.1 Transmitter Signal 3.2 Receiver Signal Processing References 4 Bandlimited Time of Arrival Measurements 4.1 Wideband Multipath Theorem 4.2 Bandlimited Correlogram Characteristics 4.3 Model of Bandlimited Correlogram 4.4 Peak Tracking Algorithm Performance 4.5 Leading edge Projection Tracking Algorithm 4.6 Leading edge Ratio Algorithm 4.7 Multipath Phase 4.8 Performance Summary of Tracking Algorithms References 5 Fundamentals of Positioning Systems 5.1 Navigation Systems and Tracking Systems 5.2 System Architecture 5.3 Overview of Position Determination 5.4 Indoor Performance Issues References 6 Noniterative Position Determination 6.1 Basic Positioning Methods 6.2 Linearization Based Least Squares Methods 6.3 Spherical Interpolation Approach 6.4 Quasi Least Squares Solution 6.5 Linear Correction Least Squares Approach References 7 Iterative Position Determination 7.1 Iterative Algorithms 7.2 Filtering based Methods 7.3 Data Smoothing References 8 Positioning Accuracy Evaluation 8.1 Accuracy Measures 8.2 Cramer Rao Lower Bound in Line of Sight Conditions 8.3 Derivation of Cramer Rao Lower Bound in Non Line of Sight Conditions 8.4 Approximate Variance of Linear Least Squares Algorithm 8.5 Accuracy Comparison Annex 8.A: Components of the Fisher Information Matrix References 9 Geometric Dilution of Precision Analysis 9.1 Geometric Error Analysis 9.2 Statistical Error Analysis 9.3 Calculation of Geometric Dilution of Precision