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Designing schedules and Filter for cooperative localization
KTH, School of Electrical Engineering (EES), Signal Processing.
2012 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

In scheduled cooperative localization, devices in a network transmit pulses in a predetermined order. Every node measures inter-arrival time between received pulses to localize other nodes in the network. This thesis has looked into a few aspects of schedule based cooperative localization.First part of the thesis discusses constraints on schedule construction and algorithm to construct a schedule. An algorithm is proposed to design all possible schedules for any number of nodes.The second part of this thesis discusses designing a filter to process inter-arrival times to estimate position of all other nodes in the network. Every node runs a Kalman fi lter. Simulation results are presented for a fi lter model. Complexity of implementing the designed fi lter is discussed. A comparison is made between various ways to invert the matrix by QR decomposition. And finally, increase in fi lter complexity at every node with increase in number of nodes in network is discussed.

Place, publisher, year, edition, pages
2012.
Series
EES Examensarbete / Master Thesis, XR-EE-SB 2012:018
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-126995OAI: oai:DiVA.org:kth-126995DiVA: diva2:643111
Supervisors
Examiners
Available from: 2013-08-27 Created: 2013-08-26 Last updated: 2013-08-27Bibliographically approved

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David_thesis(2213 kB)378 downloads
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CiteExportLink to record
Permanent link

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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf