• The KIPS Transactions:PartC
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• v.19C no.4
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• pp.239-246
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• 2012

The function of location estimation in WPAN has been studied and specified on the ultra wide band optionally. But the devices based on CSS(Chirp Spread Spectrum) specification has been used widely in the market because of its functionality, cheapness and support of development. As the CSS device uses 2.4GHz for a carrier frequency and the sampling frequency is lower than that of the UWB, the resolution of a timestamp is very coarse. Then actually the error of a measured distance is very large about 30cm~1m at 10 m depart. And the location error in ($10m{\times}10m$) environment is known as about 1m~2m. So for some applications which require more accurate location information, it is very natural and important to develop a sophisticated post processing algorithm after distance measurements. In this paper, we have studied extended Kalman filter with the frequency offsets of anchor nodes, and proposed a novel algorithm frequency offset compensated extended Kalman filter. The frequency offsets are composed with a variable as a common frequency offset and constants as individual frequency offsets. The proposed algorithm shows that the accurate location estimation, less than 10cm distance error, with CSS WPAN nodes is possible practically.