Hyperbolic positioning with antenna arrays and multi-channel pseudolite for indoor localization

Kenjirou Fujii, Yoshihiro Sakamoto*, Wei Wang, Hiroaki Arie, Alexander Schmitz, Shigeki Sugano

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

28 Citations (Scopus)


A hyperbolic positioning method with antenna arrays consisting of proximately-located antennas and a multi-channel pseudolite is proposed in order to overcome the problems of indoor positioning with conventional pseudolites (ground-based GPS transmitters). A two-dimensional positioning experiment using actual devices is conducted. The experimental result shows that the positioning accuracy varies centimeterto meter-level according to the geometric relation between the pseudolite antennas and the receiver. It also shows that the bias error of the carrier-phase difference observables is more serious than their random error. Based on the size of the bias error of carrier-phase difference that is inverse-calculated from the experimental result, three-dimensional positioning performance is evaluated by computer simulation. In addition, in the three-dimensional positioning scenario, an initial value convergence analysis of the non-linear least squares is conducted. Its result shows that initial values that can converge to a right position exist at least under the proposed antenna setup. The simulated values and evaluation methods introduced in this work can be applied to various antenna setups; therefore, by using them, positioning performance can be predicted in advance of installing an actual system.

Original languageEnglish
Pages (from-to)25157-25175
Number of pages19
JournalSensors (Switzerland)
Issue number10
Publication statusPublished - 2015 Sept 30


  • GPS
  • Hyperbolic positioning
  • Indoor positioning
  • Pseudolite

ASJC Scopus subject areas

  • Analytical Chemistry
  • Biochemistry
  • Atomic and Molecular Physics, and Optics
  • Instrumentation
  • Electrical and Electronic Engineering


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