Augmented Topologies Base Localization Correction in Self-Organizing Localization

We have proposed Self-Organizing Localization (SOL), which can precisely localize many smart devices ubiquitously distributed in a large indoor space using just three anchor points. If smart devices are equipped with Impulse Radio Ultra-Wideband (IR-UWB) and can range inter-device distance, SOL enables localization for smart devices with error from a few to a dozen centimeters. On the other hand, the precision of IRUWB ranging deteriorates in a space where obstacles block radio waves. Therefore, SOL also causes degradation of its precision for localization. In this paper, we propose augmented topologies base localization correction in SOL resolving the degradations, and we show its effectiveness with simulation evaluations. The proposed technique eliminates errors in IR-UWB ranging caused by obstacles with augmenting topologies configured by SOL and improves precision of SOL localization.