TDAoA: A combination of TDoA and AoA localization with LoRaWAN

Location-based services are an essential aspect of many Internet of Things (IoT) applications. Due to low power requirements that these applications impose on their end devices, classic GNSS solutions are replaced by wireless localization via Low Power Wide Area Networks (LPWAN), e.g. Time Difference of Arrival (TDoA) localization with LoRaWAN. Usually, at least four gateways are required to obtain a reliable location estimate with TDoA. This research is an extension to our previous work, where we simulated a combination of TDoA with Angle of Arrival (AoA) using only two gateways. The main new contribution in this paper is the use of real LoRaWAN data instead of simulations. In a first experiment, we achieve a mean estimation error of 339m in a Line of Sight (LoS) scenario. The second experiment reports a mean estimation error of 159m in a Non-Line of Sight (NLoS) area, which is a significant improvement compared to previous TDoA experiments in the same area. (C) 2020 Elsevier B.V. All rights reserved.