Multipath Compensation Algorithm for TDMA-Based Ultrasonic Local Positioning Systems

This paper proposes a multipath compensation algorithm (MCA) to enhance the performance of an ultrasonic local positioning system under adverse multipath conditions. The proposed algorithm is based on the accurate estimation of the environment impulse response from which the corresponding line of sight for each channel is obtained. Experimental results in two different environments and with different conditions have been conducted in order to evaluate the performance of this proposal. In both environments, results confirm the expected improvements, even under severe multipath conditions where positioning errors have been reduced from 44 to 9 cm for the 95% of the measurements.