Zhiguo Shi & Chaojie Gu 
LoRa Localization [PDF ebook] 
System Design and Performance Analysis

1 Introduction.- 1.1 Background .- 1.1.1 Internet of Things (Io T).- 1.1.2 Low Power Wide Area Network (LPWAN).- 1.1.3 Location-based Internet of Things Services and Industrial Applications.- 1.2 Current Situation and Challenge.- 1.2.1 Challenges and Contributions.- 1.3 Book Organization.- References​.- 2 Wireless Localization Model and Hardware Foundation.- 2.1 Lo Ra and its Ranging Engine.- 2.1.1 Lo Ra Network Structure.- 2.1.2 Lo Ra Nodes Distance Estimation.- 2.1.3 Lo Ra Nodes Angle Estimation.- 2.2 Angle of Arrival (Ao A) Estimation.- 2.3 Hardware.- 2.3.1 Hardware Platform Design.- 2.3.2 Heterogeneous Devices and Protocol Interface Design.- References.- 3 Lo Ra-based Mobile Localization System.- 3.1 System Model.- 3.1.1 System Overview.- 3.1.2 Localization Model.- 3.2 Distance and Location Estimation.- 3.2.1 Distance Estimation.- 3.2.2 Anchor Location Estimation.- 3.3 Localization Optimization.- 3.4 Implementation and Evaluation.-  3.4.1 System Implementation.- 3.4.2 Localization Simulations.- 3.4.3 System Evaluation.- 3.5 Summary.- References.- 4 Wide-Area Localization System Based on Lo Ra Mesh.- 4.1 Hardware Design.- 4.2 Lo Ra Mesh Protocol Design.- 4.2.1 The Structure of the Mesh Protocol.- 4.2.2 Route Discovery and Maintenance.- 4.2.3 Routing Algorithm .- 4.3 Lo Ra Ranging and Localization .- 4.3.1 Localization Workflow.- 4.3.2 Ranging Algorithm.- 4.3.3 Localization Algorithm.- 4.4 Implementation.- 4.4.1 Control and Visualization Interface.- 4.4.2 Anchors Deployment .- 4.5 Evaluation.- 4.5.1 Ranging Experiment .- 4.5.2 Positioning Experiment.- 4.6 Summary.- References.- 5 Enable Angle of Arrival in Lo Ra for Efficient Indoor Localization.- 5.1 Problem formulation and Challenges.- 5.2 Redesign of Lo Ra Gateway and Ranging Procedure.- 5.2.1 Gateway Redesign.- 5.2.2 Leveraging Ranging Difference.- 5.2.3 Ranging Procedure Redesign.- 5.3 Improving Ao A Estimation via Rotation.- 5.3.1 Binary Ao A Classification.- 5.3.2 Virtual Array.- 5.3.3 Ao A Calculation.- 5.4 Implementation and Applications.- 5.4.1 Implementation.- 5.4.2 Applications.- 5.5 Performance Evaluation.- 5.5.1 Ranging Difference Estimation .- 5.5.2 Ao A Estimation.- 5.5.3 NLo S Localization .- 5.5.4 Power Consumption Evaluation .- 5.6 Summary.- References .- 6 Lo Ra-based Indoor Tracking System for Mobile Robots.- 6.1 Estimating the Ao A.- 6.1.1 Ao A Estimation with an Antenna Array.- 6.1.2 Minimize Ranging Interval .- 6.2 Eliminating the Blind Area.-  . 6.3 Estimating Target Movement .- 6.3.1 Target Motion Model.- 6.3.2 Real-Time Frequency Estimation.- 6.4 System Implementation.- 6.5 Performance Evaluation.- 6.5.1 Indoor Experiments.- 6.5.2 Deploy Ability Investigation.- 6.6 Summary.- References.- 7 Conclusion and Future Directions.- 7.1 Concluding Remarks .- 7.2 Future Directions.

Zhiguo Shi received the B.S. and Ph.D. degrees in electronic engineering from Zhejiang University, Hangzhou, China, in 2001 and 2006, respectively. Since 2006, he has been a faculty member with the College of Information Science and Electronic Engineering, Zhejiang University, where he is currently a full professor. From 2011 to 2013, he was visiting the Broadband Communications Research Group, University of Waterloo, Waterloo, ON, Canada. His current research interests include array signal processing, target tracking and positioning, Io T system design, and anti-drone system technic and system. He has more than 100 issued patents. He is serving/served as an AE of IEEE Signal Processing Letters, IEEE Transactions on Vehicular Technology, IEEE Network, IET Communications, and Journal of The Franklin Institute. He served as the general co-chair of IEEE SAM 2020, and will serve as the TPC co-chair of IEEE/CIC ICCC 2024
Chaojie Gu received the B.Eng.degree from Harbin Institute of Technology, China, in 2016, and the Ph.D. degree in computer science and engineering from Nanyang Technological University, Singapore, in 2020. He was a Research Fellow with Singtel Cognitive and Artificial Intelligence Lab for Enterprise (SCALE) in 2021. He is an Assistant Professor with the College of Control Science and Engineering, Zhejiang University, Hangzhou, China. His research interests include Io T, industrial Io T, edge computing, and low power wide area network.
Shibo He received the Ph.D. degree in control science and engineering from Zhejiang University, Hangzhou, China, in 2012. He is currently a Professor with Zhejiang University. He was an Associate Research Scientist in 2014 for two months and a Post-Doctoral Scholar from 2012 to 2014 with Arizona State University, Tempe, AZ, USA. From 2010 to 2011, he was a Visiting Scholar with the University of Waterloo, Waterloo, ON, Canada. His current researchinterests include wireless sensor networks, crowdsensing, and big data analysis. Dr. He serves on the Editorial Board of the IEEE Transactions on Vehicular Technology, Springer’s Peer-to-Peer Networking and Application and KSII Transactions on Internet and Information Systems. He has been a Guest Editor of Elsevier’s Computer Communications and Hinda WI’s International Journal of Distributed Sensor Networks.
Kang Hu received the B.Sc. degree from the School of Mechanical Engineering and Electronic Information, China University of Geosciences, Wuhan, China, in 2017, and the Ph.D. degree from Zhejiang University, Hangzhou, China, in 2022. He is currently working for the Io T department of Alibaba. His research interests include low-power wide-area networks and localization.