Kalman filter-based localization for Internet of Things LoRaWAN™ end points

This paper addresses the problem of estimating the location of Internet of Things (IoT) Long Range Wide Area Networks (LoRaWAN) devices from time of arrival differences measured at gateways. An Extended Kalman Filter (EKF) based approach is considered to aggregate the measurements obtained at different time instants. Particular attention is paid to the processing of outliers. Based on experimental data obtained from field measurements conducted on a real LoRaWAN™ network an insight into the realistic localization accuracy of the considered localization approach is provided.