School of Surveying and Spatial Information Systems, The University of New South Wales, Sydney, NSW 2052, Australia
Locata Corporation Pty Ltd, Australia
1 Introduction
Accurate spatial information is becoming increasingly
important in todays society, and location aware
applications cover a broad range, from mobile phones to
machine control. Today, GPS is the most popular and
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Figure 9 illustrates a basic LocataNet with the four timesynchronised LocataLites. Each LocataLite knows its
precise position, and the four transmitted ranging signals
are all time-synchronised. The established LocataNet can
operate independently of GPS.
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2.3 Time-Loc
The time synchronisation accuracy requirements for
LocataLites is very high if sub-centimeter positioning
precision is desired for a Locata receiver, since a one
nanosecond error in time equates to an error of
approximately thirty centimeters (due to the speed of
light). LocataLites achieve high levels of synchronisation
without atomic clocks, external cables, or a master
reference receiver. Time-Loc provides an autonomously
synchronised network. The Time-Loc procedure is best
described in the following steps for two LocataLites A
and B (Figure 13):
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Time solution In differential GPS the doubledifferencing procedure eliminates the clock biases and
hence time information is lost. For certain applications
precise time is important, and the LocataNet approach
allows time to be estimated along with position (as is the
case of standard GPS single-point positioning).
Barnes et al.: High Precision Indoor and Outdoor Positioning using LocataNet
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0.06
0.06
0.04
0.04
0.02
0.02
Metres
Metres
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0.04
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0.06
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Metres
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0.08
0.02
0.04
0.04
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0.06
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0
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0.1
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Metres
Metres
0.1
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1200
1400
200
400
600
800
1000
1200
1400
1200
1400
1200
1400
0.02
0.02
0.04
0.04
0.06
0.06
0.08
0.08
200
400
600
800
1000
1200
0.1
0
1400
0.08
0.08
0.06
0.06
0.04
0.04
0.02
0.02
Metres
0.1
0.1
200
400
600
800
1000
Epoch (s)
stdev 11.8mm
L1 single difference 2132
Epoch (s)
stdev 3.9mm
L1 single difference 2132
Metres
800
Epoch (s)
stdev 10.7mm
L1 single difference 1232
Epoch (s)
stdev 8.1mm
L1 single difference 1232
0.02
0.02
0.04
0.04
0.06
0.06
0.08
0.08
0.1
0
600
0.08
0.08
0.1
0
400
0.02
0.1
0
200
Epoch (s)
stdev 8.9mm
L1 single difference 2932
Epoch (s)
stdev 10.4mm
L1 single difference 2932
200
400
600
Epoch (s)
800
1000
1200
1400
stdev 4.7mm
0.1
0
200
400
600
Epoch (s)
800
1000
stdev 16.1mm
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0.05
East (14)
West (29)
North (12)
South (21)
0.04
0.03
Error (metres)
0.02
0.01
0
0.01
0.02
0.03
0.04
0.05
0
200
400
Epoch (s)
600
800
stdev 5.4 mm
North
1000
mean 1.4 mm
1200
1400
rms 5.6 mm
0.05
0.04
0.03
Error (metres)
LocataLite
0.02
0.01
0
0.01
0.02
0.03
0.04
0.05
0
200
400
Epoch (s)
4 Concluding Remarks
In this paper important aspects of the Locata technology
have been described, with particular focus on the
positioning network (LocataNet). Through an outdoor
experimental LocataNet installation, proof-of-concept for
a propagating positioning network has been
demonstrated. In two different LocataNet configurations,
one propagating (Cascaded Time-Loc) and the other nonpropagating (Master Time-Loc), stand-alone positioning
with sub-centimeter level precision was achieved. This
level of precision is very pleasing for a prototype system,
and is as good as (if not better than) GPS RTK using a
base station, radio modem and double differencing.
Moreover, the propagating mechanism of LocataNet is a
800
1000
mean 2.0 mm
1200
1400
rms 4.6 mm
Error (metres)
0.03
0.02
0.01
0
0.01
0.02
0.03
0.04
0.05
0
200
400
Epoch (s)
600
800
stdev 7.7 mm
North
1000
mean 1.0 mm
1200
1400
rms 7.8 mm
0.05
0.04
0.03
Error (metres)
600
stdev 4.1 mm
0.02
0.01
0
0.01
0.02
0.03
0.04
0.05
0
200
Epoch (s)
400
600
800
stdev 5.9 mm
1000
mean 1.5 mm
1200
1400
rms 6.1 mm
Sept., 449-459.
Barnes J., C. Rizos, J. Wang, D. Small, G. Voigt and N.
Gambale (2003a) Locata: A new positioning technology
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