Opportunistic Time-of-Arrival localization in fully asynchronous wireless networks

We present a novel Time-of-Arrival localization scheme for fully asynchronous systems, where each node clock is affected by unknown bias (temporal offset) and drift (frequency offset). The proposed method relies exclusively on the measurement of reception times, and does not require knowledge nor control of the transmission times. Therefore, it can exploit opportunistically signals and packets that are already available over-the-air for communication purposes. We formalize the problem and provide a low-complexity resolution algorithm based on pseudo-ranges. Simulation results are provided to validate the resolution approach and to assess the sensitivity of the localization accuracy to the main scenario parameters.