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Performance limitations of localization based on ranging, speed, and orientation
KTH, School of Electrical Engineering (EES), Automatic Control.ORCID iD: 0000-0001-9810-3478
2015 (English)In: IEEE Workshop on Signal Processing Advances in Wireless Communications, SPAWC, IEEE conference proceedings, 2015, 490-494 p.Conference paper (Refereed)Text
Abstract [en]

Estimating the position of a mobile node by linear sensor fusion of ranging, speed, and orientation measurements has the potentiality to achieve high localization accuracy. Nevertheless, the design of these sensor fusion algorithms is uncertain if their fundamental limitations are unknown. Despite the substantial research focus on these sensor fusion methods, the characterization of the Cramér Rao Lower Bound (CRLB) has not yet been satisfactorily addressed. In this paper, the existence and derivation of the posterior CRLB for the linear sensor fusion of ranging, speed, and orientation measurements is investigated. The major difficulty in the analysis is that ranging and orientation are not linearly related to the position, which makes it hard to derive the posterior CRLB. This difficulty is overcome by introducing the concept of posterior CRLB in the Cauchy principal value sense and deriving explicit upper and lower bounds to the posteriori Fisher information matrix. Numerical simulation results are provided for both the parametric CRLB and the posterior CRLB, comparing some widely-used methods from the literature to the derived bound. It is shown that many existing methods based on Kalman filtering may be far from the the fundamental limitations given by the CRLB.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2015. 490-494 p.
Keyword [en]
Cramér Rao Lower Bound, localization, positioning, sensor fusion, Fisher information matrix, Numerical methods, Wireless telecommunication systems, Fundamental limitations, Lower bounds, Orientation measurements, Performance limitations, Sensor fusion algorithms, Signal processing
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-181185DOI: 10.1109/SPAWC.2015.7227086ISI: 000380547100099ScopusID: 2-s2.0-84953379299ISBN: 9781479919307OAI: oai:DiVA.org:kth-181185DiVA: diva2:901015
Conference
16th IEEE International Workshop on Signal Processing Advances in Wireless Communications, SPAWC 2015, 28 June 2015 through 1 July 2015
Note

QC 20160205

Available from: 2016-02-05 Created: 2016-01-29 Last updated: 2016-09-05Bibliographically approved

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Fischione, Carlo
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