Gonzalez-Hernandez, JuanJuanGonzalez-HernandezBleakley, Chris J.Chris J.Bleakley2015-09-152015-09-152008 IEEE2008-08-28http://hdl.handle.net/10197/7029International Symposium on Spread Spectrum Techniques and Applications (ISSSTA), Bologna, Italy, 25 - 28 August, 2008This paper proposes a novel system which provides 3-axis orientation and 3D location estimation for a Mobile Device based on Time of Flight (ToF) and Angle of Arrival (AoA) measurements using ultrasonic signals. Robustness is provided to the system by means of a Slow Frequency-Hop Spread Spectrum modulation and a robust 2D AoA estimation method with a Uniform Circular Array (UCA). In simulation, the system shows an accuracy of 1.7 degrees in the orientation estimates and location estimates under 1cm in 95% of cases under conditions of noise and reverberation.en© 2008 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.ToAAoAOrientationLocationUltrasoundConference Publication10.1109/ISSSTA.2008.1562015-09-04https://creativecommons.org/licenses/by-nc-nd/3.0/ie/