Date of Award


Publication Type

Master Thesis

Degree Name



Electrical and Computer Engineering

First Advisor

Tepe, Kemal



Creative Commons License

Creative Commons Attribution-Noncommercial-No Derivative Works 4.0 License
This work is licensed under a Creative Commons Attribution-Noncommercial-No Derivative Works 4.0 License.


Technology advancements such as GPS, automation and robotics have completely changed the world and produced new industries, once thought to be unimaginable a century ago. As with all technology, these systems come with limitations and can be further improved. At this time, all of these systems share one common problem; they cannot work together in an indoor environment. The advent of indoor positioning systems aims to create a union between these technologies such as allowing robots to be location aware. Indoor positioning is currently a new technology with no defined standard. Ultra-wideband based indoor positioning systems have become popular because of their resistance to multipath and high resolution due to a large bandwidth. The Ultra-wideband based system in this thesis utilizes the time of arrival technique to calculate distances and thus a user’s position. Time of arrival is only reliable when there is a line-of-sight between two transceivers. If there is no line-of-sight, the distances calculated are inaccurate thus impacting the accuracy of a user’s position. This thesis proposes a practical, non-hardware intensive solution to identify if there is a no line-of-sight condition and mitigates the measured range between a tag and the anchor nodes. Line-of-sight identification was implemented using the channel impulse response data. Ranging and positioning mitigation was achieved using a geometric based mitigation scheme. An accuracy of 90% was achieved for the identification of no line-of-sight and an improvement factor of 2.81 was achieved for the calculated mitigated position of a tag.