Radio frequency (RF) time-of-flight ranging for wireless sensor networks

Position information of nodes within wireless sensor networks (WSNs) is often a requirement in order to make use of the data recorded by the sensors themselves. On deployment the nodes normally have no prior knowledge of their position and thus a locationing mechanism is required to determine their positions. In this paper, we describe a method to determine the point-to-point range between sensor nodes as part of the locationing process. A two-way time-of-flight (TOF) ranging scheme is presented using narrow-band RF. The frequency difference between the transceivers involved with the point-to-point measurement is used to obtain a sub-clock TOF phase offset measurement in order to achieve high resolution TOF measurements. The ranging algorithm has been developed and prototyped on a TI CC2430 development kit with no additional hardware being required. Performance results have been obtained for the line-of-sight (LOS), non-line-of-sight (NLOS) and indoor conditions. Accuracy is typically better than 7.0 m RMS for the LOS condition over 250.0 m and 15.8 m RMS for the NLOS condition over 120.0 m using a 100 sample average. Indoor accuracy is measured to 1.7 m RMS using a 1000 sample average over 8.0 m. Ranging error is linear and does not increase with the increased transmitter-receiver distance. Our TOA ranging scheme demonstrates a novel system where resolution and accuracy are time dependent in comparison with alternative frequency-dependent methods using narrow-band RF.