Robust Relative Localization Using a Novel Modified Rounding Estimation Technique
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초록
Accurate relative location estimation is a key requirement in indoor localization systems based on wireless sensornetworks (WSNs). However, although these systems have applied not only various optimization algorithms but also fusion withsensors to achieve high accuracy in position determination, they are difficult to provide accurate relative azimuth and locations tousers because of cumulative errors in inertial sensors with time and the influence of external magnetic fields. This paper based onultra-wideband positioning system, which is relatively suitable for indoor localization compared to other wireless communications,presents an indoor localization system for estimating relative azimuth and location of location-unaware nodes, referred to as targetnodes without applying any algorithms with complex variable and constraints to achieve high accuracy. In the proposed method, thetarget nodes comprising three mobile nodes estimate the relative distance and azimuth from two reference nodes that can be installedby users. In addition, in the process of estimating the relative localization information acquired from the reference nodes, positioningerrors are minimized through a novel modified rounding estimation technique in which Kalman filter is applied without any timeconsumption algorithms. Experimental results show the feasibility and validity of the proposed system.
Abstract
Accurate relative location estimation is a key requirement in indoor localization systems based on wireless sensornetworks (WSNs). However, although these systems have applied not only various optimization algorithms but also fusion withsensors to achieve high accuracy in position determination, they are difficult to provide accurate relative azimuth and locations tousers because of cumulative errors in inertial sensors with time and the influence of external magnetic fields. This paper based onultra-wideband positioning system, which is relatively suitable for indoor localization compared to other wireless communications,presents an indoor localization system for estimating relative azimuth and location of location-unaware nodes, referred to as targetnodes without applying any algorithms with complex variable and constraints to achieve high accuracy. In the proposed method, thetarget nodes comprising three mobile nodes estimate the relative distance and azimuth from two reference nodes that can be installedby users. In addition, in the process of estimating the relative localization information acquired from the reference nodes, positioningerrors are minimized through a novel modified rounding estimation technique in which Kalman filter is applied without any timeconsumption algorithms. Experimental results show the feasibility and validity of the proposed system.
참고문헌 (37)
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