Date of Award


Degree Name

Master of Science in Engineering


Electrical and Computer Engineering

First Advisor

Dr. Ikhlas Abdel-Qader

Second Advisor

Dr. Bradley J. Bazuin

Third Advisor

Dr. Abiola A. Akanmu


RFID, Kalman, localization, filtering, RTLS

Access Setting

Masters Thesis-Open Access


The use of Radio Frequency Identification (RFID) has become widespread in industry as a means to quickly and wirelessly identify and track packages and equipment. Now there is a commercial interest in using RFID to provide real-time localization. Efforts to use RFID technology for this purpose experience localization errors due to noise and multipath effects inherent to these environments. This paper presents the use of both linear Kalman filters and non-linear Unscented Kalman filters to reduce error effects inherent to real-time RFID localization systems and provide more accurate localization results in indoor environments. A commercial RFID localization system designed for use by the construction industry is used in this work, and a filtering model based on 3rd order motion is developed. The filtering model is tested with real-world data and shown to provide an increase in localization accuracy when applied to both raw time of arrival measurements as well as final localization results.