Tracking a mobile node by asynchronous networks

In this paper, we propose a Kalman filter (KF) based tracking approach to track a target node with the assistance of anchors in an asynchronous network with clock offsets. We employ the asymmetric trip ranging (ATR) protocol to obtain TOA measurements and facilitate clock offset cancellation, and further derive a linear measurement model from the TOA measurements. Thus, the KF based on this linear measurement model does not have the modeling errors inherently contained in the Extended Kalman filter (EKF). Furthermore, low computational complexity makes the proposed KF a promising solution for practical use. We compare the proposed KF with the EKF. The simulation results corroborate its efficiency.