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hometheses & projects › Performance Bounds for Anchorless Cooperative Indoor Localization exploiting Multipath

Performance Bounds for Anchorless Cooperative Indoor Localization exploiting Multipath

Master Thesis
Announcement date
01 Jun 2013
Gregor Dumphart
Research Areas

Short Description

In previous work (see [1]), the Cramer-Rao lower bound for multipath aided indoor localization and tracking (MINT) has been derived. MINT
makes use of the multipath propagation in the ultra wideband (UWB) indoor channel for localization. However, additional a priori known
floorplan information and knowledge about the exact anchor position is necessary.

In this work, we focus on a cooperative first-responder indoor localization scenario, where we do not have a working infrastructure
such as anchor nodes available. To circumvent this, we introduce cooperation among mobile nodes such that each nodes performs MINT
measurements in a (i) non-cooperative, and a (ii) cooperative setup (see [2]).


  • Get familiar with the derivation of the CRLB for the bi-static MINT case
  • Derive the CRLB for the mono-static MINT case
  • Verify your findings with MATLAB simulations
  • Derivation and analysis of CRLB for combined (mono-static, and bi-static) case

Full text

The final text of this thesis can be found here.


[1]: Witrisal, Klaus, and Paul Meissner. “Performance bounds for multipath-aided indoor navigation and tracking (MINT)” International Conference on Communications (ICC). 2012.

[2]: Froehle, M., E. Leitinger, P. Meissner, and K. Witrisal, “Cooperative Multipath-Assisted Indoor Navigation and Tracking (Co-MINT) Using UWB Signals”, IEEE ICC 2013 Workshop on Advances in Network Localization and Navigation (ANLN), 2013.