Title :
TDOA based localization using Interacting Multiple Model estimator and ultrasonic transmitter/receiver
Author :
Zhang, Rui ; Höflinger, Fabian ; Reindl, Leonhard M.
Author_Institution :
Dept. of Microsyst. Eng., Univ. of Freiburg, Freiburg, Germany
Abstract :
This paper presents a wireless network infrastructure based localization system using ultrasonic transmitter and receiver for obtaining accurate TDOA measurements and Interacting Multiple Model (IMM) estimator for calculating the actual position of the target by running two filters, i.e. extended Kalman filter (EKF) and robust extended Kalman filter (REKF), which offers the protection against the noise in both line-of-sight (LOS) and non-line-of-sight (NLOS) environments. The experiment results showed that the system utilized the advantages of EKF and REKF for different environments and thus was able to provide a localization solution with high accuracy.
Keywords :
Kalman filters; direction-of-arrival estimation; nonlinear filters; radio networks; radio receivers; radio transmitters; time-of-arrival estimation; ultrasonic devices; IMM estimator; NLOS environments; REKF; TDOA based localization; TDOA measurements; interacting multiple model estimator; localization solution; non-line-of-sight environment; robust extended Kalman filter; ultrasonic receiver; ultrasonic transmitter; wireless network infrastructure based localization system; Equations; Kalman filters; Mathematical model; Noise; Receivers; Transmitters; Ultrasonic variables measurement; Interacting Multiple Model (IMM); Kalman filter; M-estimator; TDOA; Ultrasonic;
Conference_Titel :
Systems, Signals and Devices (SSD), 2012 9th International Multi-Conference on
Conference_Location :
Chemnitz
Print_ISBN :
978-1-4673-1590-6
Electronic_ISBN :
978-1-4673-1589-0
DOI :
10.1109/SSD.2012.6198034
