Hardware implementation of a Particle Filter for location estimation

In this paper we present the hardware implementation of a Particle Filter for location estimation. Based on distance information to static network nodes, the filter estimates the three-dimensional position of a mobile network node. The design has been derived from a set of formal operation properties and synthesized for an FPGA prototype platform. Accessed through a serial interface, it can be used as a location estimation core from microcontrollers with low computational power. The implemented models for state transition and measurements can be re-parameterized during operation. Due to the chosen design approach these models can also easily be modified or exchanged in order to match the application needs. The correct functionality of the implementation has been shown using real time-of-flight based distance measurements. Therefore, the prototype platform has been integrated in an existing IEEE 802.15.4a compliant wireless network infrastructure.