A Sensor Fusion Algorithm for Mobile Node Localization

• 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.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Signalbehandling (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Signal Processing (hsv//eng)

Nyckelord

Sensor fusion

positioning systems

distributed models

networks

optimization problems

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