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Noisy network localization via optimal measurement refinement part 1: Bearing-only orientation registration and localization
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
2011 (English)In: IFAC Proc. Vol. (IFAC-PapersOnline), 2011, no PART 1, 8842-8847 p.Conference paper (Refereed)
Abstract [en]

The problem of localizing or tracking a number of targets using a network of bearing-only sensors is considered. To solve such a high-level problem, each sensor report must be successfully recorded in a common spatial reference frame and the position of the sensors must be determined. In practice, however, the reports from individual sensors are characterized by both random (called noise) and systematic errors (called biases). Typical bias errors are axis misalignments (due to azimuth and elevation biases) and range offset errors. Conditions under which the systematic errors can be removed given noisy measurements are examined in this work. In addition, certain conditions are identified which lend themselves naturally to the design of algorithms for network registration, localization and subsequently target localization. These conditions are feasible from a computational complexity point of view. This work provides a comprehensive solution to the problem of sensor network-based target localization with bearing measurements as very little a prior information is assumed known and, if certain sensing conditions are met, efficient algorithms are provided.

Place, publisher, year, edition, pages
2011. no PART 1, 8842-8847 p.
, IFAC Proceedings Volumes (IFAC-PapersOnline), ISSN 1474-6670 ; 18
Keyword [en]
Bearing-only, Bias error, Design of algorithms, Network localization, Network-based, Noisy measurements, Optimal measurements, Prior information, Range offset, Spatial reference, Target localization, Sensor networks, Algorithms
National Category
Control Engineering
URN: urn:nbn:se:kth:diva-150211DOI: 10.3182/20110828-6-IT-1002.01286ScopusID: 2-s2.0-84866753802ISBN: 9783902661937OAI: diva2:742678
18th IFAC World Congress, 28 August 2011 through 2 September 2011, Milano, Italy

QC 20140902

Available from: 2014-09-02 Created: 2014-09-01 Last updated: 2014-10-03Bibliographically approved

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Shames, Iman
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Automatic ControlACCESS Linnaeus Centre
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