A Novel TDoA-Based Method for 3D Combined Localization Techniques Using an Ultra-Wideband Phase Wrapping-Impaired Switched Beam Antenna

This paper presents a novel Time Difference of Arrival-based approach suitable for single-anchor positioning systems, implemented by phase wrapping-impaired array antenna. With the latter being a typical occurrence in large Switched Beam Antenna (SBA) operating in the low microwave range. The proposed method takes advantage from the large bandwidth of radio link, established between the anchor and the positioning target, by generating an unambiguous equivalent phase relationship between antenna array elements. The technique is validated by adopting a relatively large SBA antenna operating in the 4.75–6.25 GHz bandwidth, and capable to position a target in a 3D domain. Experimental data, carried out in the 4–7 GHz frequency bandwidth, show that by dealing properly with the inherent constraint of phase wrapping issues, it is possible to get a significant improvement on the elevation angle with respect to methods not capable to deal with phase reconstruction and thus operating in a phase-less context. Combining range and angle errors, the associated cumulative distribution function error in 90% of cases shows an error of 0.13 m.