The active badge location system
ACM Transactions on Information Systems (TOIS)
The Cricket location-support system
MobiCom '00 Proceedings of the 6th annual international conference on Mobile computing and networking
Location-aided routing (LAR) in mobile ad hoc networks
Wireless Networks
TRIP: A Low-Cost Vision-Based Location System for Ubiquitous Computing
Personal and Ubiquitous Computing
Multi-Camera Multi-Person Tracking for EasyLiving
VS '00 Proceedings of the Third IEEE International Workshop on Visual Surveillance (VS'2000)
PERCOM '04 Proceedings of the Second IEEE International Conference on Pervasive Computing and Communications (PerCom'04)
An Ultrasonic 3D Positioning System Using a Single Compact Receiver Unit
LoCA '09 Proceedings of the 4th International Symposium on Location and Context Awareness
Error analysis of non-collaborative wireless localization in circular-shaped regions
Computer Networks: The International Journal of Computer and Telecommunications Networking
Cluster tagging: robust fiducial tracking for smart environments
LoCA'06 Proceedings of the Second international conference on Location- and Context-Awareness
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Accurate, dependable location information enables new services to users and efficient message routing within a sensor network. Fine-grained location data are often degraded by prevalent multipath and varying transmission channel characteristics. Successful positioning systems have used over-constrained sensor data to increase resilience to these problems and improve the accuracy of the location information produced. In this paper we evaluate a selection of commonly used algorithms for range-based (lateration) measurement data. We consider their accuracy, dependability, and computational requirements. The evaluation is performed using data collected over an extended period using an established indoor positioning system that locates active tags using the propagation of ultrasound from tag to a matrix of static sensors distributed throughout a 550m2 office floor space. We identify algorithms with successful multipath rejection and highlight the importance of the sensors' geometric configuration. This is particularly pertinent when considering positioning near cell boundaries in the sensor network. We introduce two new metrics to characterise the dependability of positioning algorithms.