| 1. |
- Caceres, M.A., et al.
(författare)
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Hybrid Cooperative Positioning based on Distributed Belief Propagation
- 2011
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Ingår i: IEEE Journal on Selected Areas in Communications. - 0733-8716 .- 1558-0008. ; 29:10, s. 1948-1958
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Tidskriftsartikel (refereegranskat)abstract
- We propose a novel cooperative positioning algorithm that fuses information from satellites and terrestrial wireless systems, suitable for GPS-challenged scenarios. The algorithm is fully distributed over an unstructured network, does not require a fusion center, does not rely on fixed terrestrial infrastructure, and is thus suitable for ad-hoc deployment. The proposed message passing algorithm, named hybrid sum-product algorithm over a wireless network (H-SPAWN), is described and analyzed. A novel parametric message representation is introduced, to reduce computational and communication overhead. Through simulation, we show that H-SPAWN improves positioning availability and accuracy, and outperforms hybrid positioning algorithms based on conventional estimation techniques.
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| 2. |
- Caceres, M.A., et al.
(författare)
-
Hybrid GNSS-terrestrial cooperative positioning via distributed belief propagation
- 2010
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Ingår i: GLOBECOM - IEEE Global Telecommunications Conference. - 9781424456383
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Konferensbidrag (refereegranskat)abstract
- Cooperative positioning algorithms have been recently introduced to overcome the limitations of traditional methods, relying on GNSS or other terrestrial infrastructure. In particular, SPAWN (Sum-Product Algorithm over a Wireless Network) was shown to provide accurate position estimate even in challenged indoor environments, thanks to exchange of local information among peers based on terrestrial ranging. In this paper we extend the SPAWN framework by considering a hybrid scenario, where agents combine satellite and peer-to-peer terrestrial measurements. The novel hybrid SPAWN (H-SPAWN) approach allows increased availability and robustness compared to GNSS-only positioning in light and deep indoor scenarios, while keeping the advantages of a distributed implementation of the original SPAWN. A parametric message representation is proposed to reduce the communication overhead, and to improve the estimation accuracy. Simulation results show that the proposed solution outperforms traditional algorithms such as cooperative least squares and the extended Kalman filter.
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| 3. |
- Garello, Roberto, et al.
(författare)
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Peer-to-Peer Cooperative Positioning
- 2012
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Ingår i: Inside GNSS.
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Tidskriftsartikel (övrigt vetenskapligt/konstnärligt)abstract
- In this second part of a discussion of peer-to-peer cooperative positioning, we revisit the topic of sharing critical information across clusters of GNSS users. This article focuses on users within GNSS-challenged environments equipped with both a GNSS receiver and a terrestrial ranging system. Multiple methods for sharing position information across users are examined. The authors show that strategically sharing information can greatly enhance the availability of the position solutions to the network as a whole.
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