An Original Correction Method for Indoor Ultra Wide Band Ranging-based\n Localisation System

During this decade, Wireless Sensor Networks (WSNs) brought an increasing\ninterest in the industrial and research world. One of their applications is the\nindoor localization. The ranging, i.e. the distance evaluation mechanism\nbetween nodes, is required to determine the position of the nodes. The research\nwork presented in this article aims to use Ultra Wide Band (UWB) radio links to\nachieve an efficient ranging, based on Time of Flight (ToF) measurement. A good\nsolution consists in integrating ranging traffic into the usual network\nmes-sages. However, the ToF ranging process is based on information exchanges\nwhich are temporally constrained. Once this information is encapsulated into\nthe usual messages, the temporal constraint cannot be honoured, resulting in\nimportant ranging errors due to clock drifts. To mitigate these errors, we have\nintroduced an original dynamic correction technique which enables a precision\nof twenty centimetres allowing the inclusion of ranging traffic in usual\ntraffic\n