Localization Archives

Theory of relativity and age of planet Earth

May 19, 2024 DSP / Localization

The Easiest Tutorial on Kalman Filter

Kalman filter is one of the most important but not so well explained filter in the field of statistical signal processing. As far as its importance is concerned, it has seen a phenomenal rise since its discovery in 1960. One of the major factors behind this is its role of fusing estimates in time and space in an information-rich world. For example, position awareness is not limited to radars and self driving vehicles anymore but instead has become an integral component in proper operation of industrial control, robotics, precision agriculture, drones and augmented reality. Kalman filter plays a major role

September 30, 2023 DSP / Localization

FMCW Radar Part 1 – Ranging

This is Part 1 of a 3-Part series in which we describe how an FMCW radar finds the range of multiple stationary targets. In Part 2, we talk about estimating the velocities of several moving targets and their directions through forming a structure known as the radar cube. Part 3 presents system design guidelines for an FMCW radar. In his book Multirate Signal Processing, Fred Harris mentions a great problem solving technique: "When faced with an unsolvable problem, change it into one you can solve, and solve that one instead." We will see in this article how an FMCW radar

Multiple paths arriving at the Rx with different strengths and delays

May 9, 2022 Localization

Carrier Phase-Based Ranging in Indoor Multipath Channels

Indoor positioning is one of the core technologies behind the idea of Internet of Things (IoT). Some of the use cases are asset tracking and management, factory automation systems, virtual and augmented reality applications, social media relevance and precision marketing in shopping malls. Distances between wireless devices can be determined through various ranging techniques that were introduced in the big picture of localization. Among the candidates, phase based ranging is a low-cost and accurate method that can be implemented on cheap hardware and deployed in real scenarios with relative ease (even in the absence of synchronization among nodes). In this

March 14, 2022 Localization

On Microchip AT86RF215 Radios

It is a little unusual to describe a hardware radio on a website that focuses on software radios. But I was impressed with the functionality and performance of AT86RF215 transceivers by Microchip during my experiments. I have used them for node localization and they can be put to many other good uses, including, …. here is the surprise, …. as software defined radios. Through a little programming effort, I/Q samples from the digital frontend can be directly accessed using which you can run your own baseband on a digital signal processor. Although interfacing with an external device for I/Q samples

Multiple objects at different speeds for an FMCW radar

November 6, 2023 DSP / Localization

FMCW Radar Part 2 – Velocity, Angle and Radar Data Cube

In Part 1 of FMCW radar series, we described how a radar estimates the range of one or more stationary targets. In Part 2, we talk about estimating the velocities of several moving targets and their directions through forming a structure known as the radar cube. Part 3 presents system design guidelines for an FMCW radar. In a wonderful 1991 paper "Wireless Digital Communication: A View Based on Three Lessons Learned", Andrew Viterbi summarizes the Shannon theory for digital communications in the form of 3 lessons, the first of which was the following. "Never discard information prematurely that may be