Angle of Arrival Estimation Using Decawave
DW1000 Integrated Circuits
Igor Dotlic, Andrew Connell, Hang Ma, Jeff Clancy, Michael McLaughlin
Decawave Ltd., Adelaide Chambers, Peter Street, Dublin 8, Ireland,
Email: first_name.last_name@decawave.com
Abstract—The paper describes principles of angle of arrival
estimation using an anchor and a tag which are built around
Decawave’s DW1000 impulse radio ultra-wideband IC. Typical
experimental results are provided that show the performance of
Decawave’s AOA demo kit based on this architecture.
Keywords—Angle of arrival (AOA); Impulse Radio (IR); Ultra-
Wideband (UWB); Real Time Localization System (RTLS).
I. INTRODUCTION
DW1000 [1, 2] integrated circuit (IC) represents a fully
coherent implementation of the IEEE 802.15.4a [3] ultra-
wideband (UWB) physical layer (PHY), which is currently
integrated in the IEEE 802.15.4-2015 standard [4]. The impulse
nature of this PHY along with its large bandwidth allow for
precise real-time localization system (RTLS) implementation
based on the DW1000 IC.
Up until now, the academic community made several
contributions based on the DW1000 RTLS evaluation kits
provided by Decawave. Comparison of the ranging
performances of DW1000 evaluation kit and similar evaluation
kits from other vendors has been done in [5-7]. Testing novel
localization concepts with DW1000 ICs has been performed in
[8], while experimenting with channel-sounding functionality of
DW1000 ICs has been reported in [9].
This paper presents an overview of how to implement an
Angle of Arrival (AOA) solution using Decawave’s DW1000 IC
with a Phase Difference of Arrival (PDOA) scheme. It also
describes Decawave’s initial AOA demonstration kit, based on
Decawave’s AOA anchor board, which is still under
development. Furthermore, typical AOA estimation results
using this kit are provided together with the description of its
current limitations.
II. THEORETICAL BACKGROUND
A. Angle of Arrival Estimation Methods
Using Impulse Radio Ultra-Wideband (IR-UWB)
technology such as in DW1000, four schemes can be used to
calculate the angle of arrival from an IR-UWB source (tag)
transmitting to two IR-UWB receivers (anchor):
Time of Flight (TOF) [where delta between two
measured times of flight values is used to estimate
angle. TOFs are estimated by two separate two-
way ranging procedures [10].].
Time Difference of Arrival (TDOA) [where delta
between receive timestamps of the same frame is
used to estimate angle].
Phase Difference of Arrival (PDOA) [where delta
between phases of the received carrier is used to
estimate angle for the same frame].
TDOA/PDOA hybrid [where, for distances
between antennae above half-wavelength, TDOA is
used to select one of pre-defined AOA intervals and
PDOA is used to get the AOA estimate within the
selected interval].
For DW1000-based AOA solutions, PDOA gives the highest
accuracy of the angle estimate and this is the scheme that will be
used here. However, it is worth noting that Decawave also has
experience with AOA estimation solutions based on
TDOA/PDOA hybrid scheme. This is why this scheme will be
briefly introduced.
B. PDOA AOA Estimation Method Principles
Consider a radio signal sent from a distant transmitter which
arrives at two antennas. This is shown in Figure 1. It can be seen
from the geometry depicted in Figure 1 that the difference in
path length (𝑝) is related to the distance between antennae A and
B (𝑑) and the angle of arrival (𝜃) as
𝑝 = 𝑑 sin
(
𝜃
)
.
(1)
Consider a signal wavelength 𝜆 = 2𝜋𝑐/𝑓, where 𝑓 is its
carrier frequency and 𝑐 denotes the speed of light. Then, PDOA
(𝛼) is related to 𝑝 and 𝜆 (or 𝑓) as
𝛼 =
2𝜋
𝜆
𝑝 =
𝑓
𝑐
𝑝.
(2)
Hence, from (1) and (2) relation between PDOA and AOA
is derived as
𝜃 = arcsin
𝛼𝜆
2𝜋𝑑
.
(3)
The above equation is derived assuming antennae A and B
having identical radiation patterns, which can be only achieved
if the effects of mutual coupling are negligible. Moreover, from
(3) it is clear that, in order for 𝛼 and 𝜃 to have one-to-one
mapping in 𝜃 =
[
−𝜋/2 , 𝜋/2
]
interval, 𝑑 < 𝜆/2 has to hold.
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