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A Sensor Fusion Algorithm for Mobile Node Localization
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Automatic Control.ORCID iD: 0000-0001-9810-3478
KTH, School of Electrical Engineering (EES), Signal Processing.ORCID iD: 0000-0002-2718-0262
2011 (English)In: 18th World Congress of the International Federation of Automatic Control (IFAC), 2011Conference paper (Refereed)
Abstract [en]

Accurate  distributed  estimation  of the position  of network  nodes  is essential  formany  applications,  including  localization,  geographic  routing,  and  vehicular  networks.  When nodes are mobile and their mobility pattern is unknown,  there are not yet adequate techniques to achieve high accuracy  and  low estimation errors.  In this paper,  a new distributed estimator of the position of mobile nodes is proposed.  No model of the mobility is assumed.  The estimator combines heterogeneous  information coming from pre-existing ranging, speed, and angular measurements,  which  is jointly  fused  by  an  optimization  problem  where  the squared  mean and variance  of the localization error is minimized. Challenges of this optimization are the characterization  of the moments  of the noises  that affect  the measurements.  The  estimator is distributed  in that it  requires  only  local processing  and  communication  among  the nodes of the network.  Numerical  results  show that the proposed  estimator  outperforms traditionalapproaches based on the extended Kalman  filter.

Place, publisher, year, edition, pages
Keyword [en]
Sensor fusion, positioning systems, distributed models, networks, optimization problems
National Category
Signal Processing
URN: urn:nbn:se:kth:diva-46324ScopusID: 2-s2.0-84866761592OAI: diva2:453653
18th IFAC World Congress. Milano (Italy). August 28 - September 2, 2011
TrenOp, Transport Research Environment with Novel PerspectivesICT - The Next Generation
QC 20111107Available from: 2011-11-03 Created: 2011-11-03 Last updated: 2011-12-22Bibliographically approved

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De Angelis, AlessioFischione, CarloHändel, Peter
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Signal ProcessingACCESS Linnaeus CentreAutomatic Control
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