Modified algorithm for localisation of wireless sensors in confined spaces

This paper describes research into determining the 3D position of a flow follower in a confined space. The flow follower is able to transmit ultrasonic signals to receivers that are fixed to the wall of the vessel. A key challenge is to accurately determine the location of the flow follower. Transducers must be small, low power and low cost. The present work explores modifications to the Time Difference of Arrival algorithm. The results will demonstrate how through modifications the centre of the pill can be located from spatially separated transmitters and how the problems which arise due to rotation of the follower can be overcome using transmitters with unique identifying codes.