Date of Award


Document Type


Degree Name

Master of Science (MS)

Legacy Department

Computer Engineering


Hoover, Adam W.

Committee Member

Gowdy , John N.

Committee Member

Brooks , Richard R.


A filter designed to be optimal for alternating multi-sensor tracking systems is presented. This filter can be used on ultra-wide band position tracking systems such as the Ubisense system. In this thesis, a comprehensive evaluation of the accuracy of the Ubisense tracking system in a multi-room building is given. Then the multi-modality of the noise distribution of such a system is shown. A multi-sensor tracking system is then simulated and a Kalman filter is used to filter the measurements. It is shown that the Kalman filter is not optimal for such a system and the need for a filter that addresses the issue of multi-modality is explained. Finally a modified particle filter is designed and is shown to effectively reduce the noise in an alternating multi-sensor position tracking system.