Apparatus and method for robust indoor/outdoor object localization and tracking using multiple antennas

A localization system for determining the position of an object, said system comprising:

• At least one beacon positioned at a location, said beacon comprising a plurality of antennas, each adapted to transmit a radio frequency (RF) signal, wherein said beacon is attached to the object;
• A localizer device comprising a plurality of antennas, said localizer device configured to receive RF signals from said plurality of antennas of said beacon at said plurality of antennas of the localizer device;
• Wherein the localizer device is aware of the relative positioning of said plurality of antennas on the beacon and on the localizer device;
• Wherein the localizer device measures the time difference of arrival (TDoA) between RF signals received from each of said plurality of antennas of the beacon at each of said plurality of antennas of the localizer device, and determines the direction of arrival (DoA) of the signals from each transmitting antenna;
• Wherein the localizer device estimates the distance of the object from the localizer device based on the time of arrival measurements, direction of arrival, and known relative positioning of the antennas;
• Wherein the localizer device combines the estimated direction of arrival of the signals from each transmitting antenna with the estimated distance from each transmitting antenna to estimate the location of the beacon relative to the localizer device.

A localization system for revealing a relative position of an object from a localizer device, said system comprising:

• At least one beacon disposed at a location, comprising a plurality of antennas and each antenna adapted to transmit one radio frequency (RF) signal, wherein said at least one beacon is attached to the object;
• and
• The localizer device comprising a plurality of antennas and said localizer device is configured to receive said RF signals from said plurality of antennas of said at least one beacon via said plurality of antennas of said localizer device:
• and
• Wherein the localizer device estimates a distance between said localizer device and said object;
• and
• Wherein the localizer device uses the time of arrival of the received signal to estimate the distance between the localizer device and the object;
• and
• Wherein the localizer device estimates an angular information indicating an angle between a pointing direction of the localizer device and the object;
• and
• Wherein the localizer device estimates said angular information by calculating the difference in the time of arrival of the received signals at each of the localizer device's antennas;
• and
• Wherein the localizer device determines the relative position of said object from the localizer device based on the determined angular information and the distance between the localizer device and the object.