Kalman Tracking Prototype Based on Zigbee

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This paper presents a prototype development that uses wireless communication protocols in order to perform distance estimation, objects location and, finally, objects and persons tracking. This system is based on Zigbee, a technology that allows people to have minimum consumption and low cost, which can track a mobile indoor within an error round twenty-five centimeters in 90% of the cases using Kalman Filter. An indoor tracking system allows one to know the trajectory that follows a mobile at indoor conditions. Apart from adding functionalities to existing networks or, as the search of devices or the presence detection, the objective of an indoor tracking system is to try to mitigate the logic limitations of GPS location in interiors.