Indoor positioning is an enabling technology primed to impact the indoor application space as Global Navigation Satellite Systems (GNSS) did for the outdoor space. Amongst the competing positioning technologies are methods of different mediums: light, radio frequency and ultra-wideband, ultrasonic, and imaging; methods of different modalities: received signal strength, angle-of-arrival, time-of-flight; and methods of different mathematics: trilateration, triangulation, machine learning, and signal processing. Light-based positioning compared to other positioning schemes exploits fixed-location directional luminaires placed regularly throughout a space as anchor points -- there is an efficiency argument for multi-purpose lighting and a cost-share argument for infrastructure-based positioning. Similar to the satellite infrastructure with GNSS, with anchor points and models for light propagation and construction, position is estimated based on received signals at active photodiode-equipped target devices. Received signal strength, a common first order attribute, alone is not noise resilient enough for centimeter-level 3D positioning. Methods using angle diversity produce better results particularly in 3D but with more complex hardware. For this dissertation, we exploit angle diversity and modulated optical sources in light-based positioning systems to estimate position to centimeter-level accuracy in 3D. We propose, analyze, and contribute two novel positioning schemes that use these concepts. One of the proposed schemes is a new hybrid 3D indoor positioning technique, Ray-Surface Positioning (RSP), which incorporates a narrow field-of-view (FOV) optical source (Ray) with wide diffuse optical sources (Surfaces) to position active devices in 3D. The second scheme, a Zone-based Positioning Service (ZPS), is a positioning scheme and architecture that incorporates an angle diverse narrow FOV optical source at the positioned device. This unique design decision allows the active device to position itself directly with respect to photovoltaic anchor points but also to position other devices in its FOV called transitive positioning. Along with these contributions, we also investigate several other related topics. Concisely, as part of the dissertation, we contribute (a) review of the state-of-the-art, (b) analysis for steering Lambertian sources, (c) method of creating angle diversity from a narrow FOV optical source, (d) novel positioning approaches in (1) RSP and (2) ZPS, (e) proof of concept prototypes for (1) RSP and (2) ZPS, and (f) architectures for indoor positioning applications.

This doctoral thesis presents a comprehensive exploration of ultrawideband technology in addressing diverse challenges within localization systems. Beginning with the development of an innovative, cost-effective, and anonymous contact tracing solution for industrial environments during the COVID-19 pandemic, the research integrates ultra-wideband positioning, Bluetooth low-energy, and inertial measurement units. The subsequent sections delve into relative positioning systems, device-free localization, UWB bistatic radar sensors, and UAV-based tracking, showcasing novel methodologies and hardware implementations with promising outcomes. The work extends to groundbreaking approaches in deploying UWB infrastructure through self-deployable robots and cooperative positioning schemes using a UAV swarm. The contributions highlight versatility, costeffectiveness, and scalability, opening new possibilities for applications in security, logistics, IoT services, and space exploration. In summary, this thesis represents a significant advancement in localization systems, offering practical solutions and paving the way for future research and applications

International Telemetering Conference Proceedings / October 20-23, 2003 / Riviera Hotel and Convention Center, Las Vegas, Nevada / Quartz crystal is an important electronic element in the field of communication systems, computer systems, etc. It is important to precisely measure the frequency of quartz crystal unit for manufacturing. The Pi-network transmission system recommended by International Electrotechnical Commission (IEC) is generally acknowledged as a measurement technique. However it needs a precise frequency source. The frequency source must be calibrated within a regular period in the process of manufacturing. Frequency counters, time internal counters, phase comparisons, which are the most common frequency calibrations, are introduced in the paper. Nowadays GPS has also become the primary system for frequency calibration. GPS receivers provide 1 PPS (Pulse Per Second) with accuracy < 100 nanoseconds to UTC under normal conditions. Motorola UT Oncore timing GPS with time accuracy < 50ns (1 sigma) uses time RAIM algorithm to ensure the validity and reliability of measurements. The comparison between the precise 1PPS and local reference is implemented. And the phase differences are logged and read by computer. According to the values, the frequency output of DDS is coordinated. In order to reduce the phase ambiguity, local reference is divided before comparison. The calibration can be implemented at any time by GPS. Block diagrams of calibration are presented in this paper.

ITC/USA 2009 Conference Proceedings / The Forty-Fifth Annual International Telemetering Conference and Technical Exhibition / October 26-29, 2009 / Riviera Hotel & Convention Center, Las Vegas, Nevada / In reentry measurement, we need to measure the track of reentry vehicle. For the speed of target is very high, it is difficult for traditional positioning system to capture and track the target. TDOA (time difference of arrival) positioning system is used in reentry measurement. The position of target is calculated by using time difference of arrival. This paper introduces the principle of reentry TDOA positioning system. The key technology is synchronization of ground stations' clocks. The implementation of clock synchronization using low-cost commercial GPS receiver is presented. The sources of errors in the existing telemetry system, corresponding precision and experimental results are presented. Some methods, which are used to improve the precision, are proposed at the end of this paper.

International Telemetering Conference Proceedings / October 27-30, 1997 / Riviera Hotel and Convention Center, Las Vegas, Nevada / This paper proves theoretically that GDOP decreases as the number of satellites is increased.This paper proposes two recursive algorithms for calculating the GDOP and positioning solution.These algorithms not only can recursively calculate the GDOP and positioning solution, but also is very flexible in obtaining the best four-satellite positioning solution ,the best five-satellite positioning solution and the all visible satellite positioning solution according to given requirements. In the need of the two algorithms,this paper extends the definition of the GDOP to the case in which the number of visible satellites is less than 4.

RF positioning methods have various tradeoffs that make them suitable for differing applications. This thesis identifies the most prominent positioning methods and deter-mines their suitability for context aware applications in pub-lic spaces using a number of different factors. This thesis first explores the physical characteristics of GPS, GSM, 802.11 and Bluetooth focusing on coverage and accuracy in both a historical and forward looking context. Next, it explores what it means for an application to be context aware and how that translates into building applications that are used in the context of public places. This thesis then reflects on the intersection of the two and explores some challenges related to practical implementations. In order to further explore these challenges, it assesses a high accuracy use case of merging Bluetooth positioning with augmented reality and virtual reality applications. We find that in the last decade Bluetooth has made rapid advancements in relation to competing technologies, but it is still far from ideal in all situations, especially when the situation requires extremely high accuracy.

International Telemetering Conference Proceedings / October 23-26, 2000 / Town & Country Hotel and Conference Center, San Diego, California / Several test programs have reported degraded Global Positioning System (GPS) performance when L-band (1435-1535 MHz) telemetry is used while other test programs have had acceptable GPS performance with L-band telemetry. Most test programs seem to have minimal problems with S-band telemetry interfering with GPS performance if a bandpass filter is used between the GPS antenna and the low noise amplifier (LNA). This paper will present measured data on GPS performance with L- and S-band telemetry and explain what must be done to minimize interference to GPS. The paper will present both GPS signal-to-noise ratio (S/N) values as well as measured spectra from telemetry transmitters. System design guidelines for compatible operation will be presented.

ITC/USA 2005 Conference Proceedings / The Forty-First Annual International Telemetering Conference and Technical Exhibition / October 24-27, 2005 / Riviera Hotel & Convention Center, Las Vegas, Nevada / Background and advantages of GPS based Remote Sensing are introduced, characteristics of forward scattered GPS signal such as polarization change, cross-correlation power variation, code delay due to the wave travel distance difference between direct and scattered signal, and cross-correlation power expansion due to sea surface roughness are discussed in detail. Working principle of the self-developed delay-mapping receiver is also presented. First data collection campaign is done at Inshore of BOHAI ocean with the delay-mapping receiver mounted on an airplane. Results show that the reflected signals has much variation than the direct signals, the code delay of the reflected signals varies as the receiver height and satellite elevation angle changes and expansion of the cross-correlation due to the wind driven surface was also demonstrated.

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