TDoA-Based Outdoor Positioning with Tracking Algorithm in a Public LoRa Network

Abstract

The performance of LoRa geolocation for outdoor tracking purposes has been investigated on a public LoRaWAN network. Time Difference of Arrival (TDoA) localization accuracy, update probability, and update frequency were evaluated for different trajectories (walking, cycling, and driving) and LoRa spreading factors. A median accuracy of 200 m was obtained for the raw TDoA output data. In 90% of the cases, the error was less than 480 m. Taking into account the road map and movement speed significantly improves accuracy to a median of 75 m and a 90th percentile error of less than 180 m.