Experimental feasibility study on using ultrasonic reflections for indoor human movement tracking

The localization systems using Time Difference of Arrival (TDoA) of ultrasonic and RF signals are hard to be used in practical settings because of line-of-sight limitation of the ultrasonic signal. Overcoming this limitation, novel multi-lateration method that explicitly exploiting the ultrasonic reflections was proposed. This paper verifies the proposed method by testing in the actual practical settings. As a result, the proposed method estimates the target location with estimation error smaller than 30 cm.