Indoor Mapping and Positioning Using Impulse Radios

Abstract-This paper describes a self-localisation technique suitable for impulse radios operating indoors. Given the times of flight (TOFs) of dominant echoes measured in self-to-self radio channels, we present the algorithms to map typical indoor environments comprising four walls in relation to the radio. This is achieved as follows: first, the type of individual echoes, i.e. a single reflection or a double reflection, and the correspondences among them are identified; based on these, substructures of the surrounding environment can be reconstructed; by combining these substructures, a complete 2D map outlining the environment can be derived. When there is more than one radio, mapping information in individual radios can be exchanged and combined to show a more complete representation of the surrounding environment. The technique can be extended to solve more complex scenarios