Quasi-norm Kernel-based Emitter Localization

JHU_fingerprints.csv

CSV file of fingerprint measurements.  A set of TDoA, RSS, and AoA measurements were collected using a synchronized, distributed RF sensor network. The network consisted of eight ceiling-mounted sensor nodes, with each node having a dual-channel software-defined radio (SDR), for a total of sixteen receivers in the network. Each node also has a two-element antenna array with half-wavelength spacing between the elements. All nodes are synchronized to a common one pulse-per-second (PPS) reference enabling high-precision TDOA measurements. Each channel of a dual-channel SDR shares a common oscillator that enables two-element AoA measurements per node. In order to avoid interference from signals on active frequency bands while taking advantage of available antennas and an easy-to-achieve antenna element spacing, a 20MHz- wide 16QAM signal at a frequency of 206MHz was used as the source for measurements. The source signal transmitter was systematically moved throughout a mixed-use, 2100-sq meter space. 3527 different locations on a 0.6×0.6m grid were measured, which equates to sampling approximately 70% of the available space. At each location, the sensor network recorded complex IQ samples at the rate of 25MHz for approximately 60ms from the sixteen synchronized receivers. Measurements were generated from blocks of 8192 samples, leading to approximately 180 sets of TDoA (ns), RSS (dBm), and AoA (rad) measurements per location. The measurements were averaged, resulting in a 136 element vector for each location with 112 TDoA measurements,16 RSS measurements, and 8 AoA measurements. There are 112 = 16− 8 TDoA measurements, which is all possible pairs minus the measurements between the dual receivers at each of the eight nodes. These intra-node measurements are removed from the data analysis because the antenna separation is within the system margin of error for estimating time delays.

Nodes are labeled A-H.  Each receiver are labelled as 0 or 1.  TDoA columns are labeled according to node/receiver pairs, e.g., tdoa_B0_F1 is TDoA estimate between node B, receiver 0 and node F, receiver 1.  RSS columns are labeled according to node/receiver, i.e., rss_G1 is RSS estimate for node G, receiver 1.  AoA columns are labeled according to nodes, i.e., aoa_E is AoA estimate by the pair of receivers at node E.

Additional description of columns:

JHU_locations.csv

CSV file of the sensor nodes (A-H) locations in Cartesian format.