The Cricket location-support system
MobiCom '00 Proceedings of the 6th annual international conference on Mobile computing and networking
Principles of mobile communication (2nd ed.)
Principles of mobile communication (2nd ed.)
Calibration as parameter estimation in sensor networks
WSNA '02 Proceedings of the 1st ACM international workshop on Wireless sensor networks and applications
The flooding time synchronization protocol
SenSys '04 Proceedings of the 2nd international conference on Embedded networked sensor systems
Radio interferometric geolocation
Proceedings of the 3rd international conference on Embedded networked sensor systems
Relative location estimation in wireless sensor networks
IEEE Transactions on Signal Processing
Ranging in a dense multipath environment using an UWB radio link
IEEE Journal on Selected Areas in Communications
Time synchronization in sensor networks: a survey
IEEE Network: The Magazine of Global Internetworking
Efficient cross-correlation via sparse representation in sensor networks
Proceedings of the 11th international conference on Information Processing in Sensor Networks
Multi-channel two-way time of flight sensor network ranging
EWSN'12 Proceedings of the 9th European conference on Wireless Sensor Networks
Performance limits in sensor localization
Automatica (Journal of IFAC)
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Relative ranging between Wireless Sensor Network (WSN) nodes is considered to be an important requirement for a number of distributed applications. This paper focuses on a two-way, time of flight (ToF) technique which achieves good accuracy in estimating the point-to-point distance between two wireless nodes. The underlying idea is to utilize a two-way time transfer approach in order to avoid the need for clock synchronization between the participating wireless nodes. Moreover, by employing multiple ToF measurements, sub-clock resolution is achieved. A calibration stage is used to estimate the various delays that occur during a message exchange and require subtraction from the initial timed value. The calculation of the range between the nodes takes place on-node making the proposed scheme suitable for distributed systems. Care has been taken to exclude the erroneous readings from the set of measurements that are used in the estimation of the desired range. The two-way ToF technique has been implemented on commercial off-the-self (COTS) devices without the need for additional hardware. The system has been deployed in various experimental locations both indoors and outdoors and the obtained results reveal that accuracy between 1 m RMS and 2.5 m RMS in line-of-sight conditions over a 42 m range can be achieved.