Analytical localisation method for wireless sensor nodes embedded in industrial processes

This paper presents an improved localisation algorithm that allows estimating the positions of sensors, operating in multipath rich industrial environments. To enhance localisation accuracies, sensors transmit ultra wideband pulses to sets of receiving antennas. The proposed analytical algorithm, gives position estimates through a derivation of closed form solution of sets of non-linear equations giving time difference of arrival. The novelty of this method lies in the use of distance differences, resulting from time difference of arrival data. This overcomes the need to use iterative methods to derive absolute distances required in multilateration-based algorithms. The average accuracy of the analytical algorithm reaches ± 15cm.