Title :
Localization scenario with active sensing for range measurements
Author :
Romanovas, Michailas ; Trapnauskas, Justinas ; Klingbeil, Lasse ; Traechtler, Martin ; Manoli, Yiannos
Author_Institution :
Hahn-Schickard-Gesellschaft, Inst. of Microsyst. & Inf. Technol. (HSG-IMIT), Villingen-Schwenningen, Germany
Abstract :
The work presents the development and evaluation of uncertainty-based range measurement selection criteria for active sensing within a localization scenario. The simulated setup consists of a mobile unit equipped with a gyroscope, an incremental encoder, and being capable to measure the distance to a finite number of stationary anchors with known positions and associated position uncertainties. The work discusses several major methods for anchor selection based on expected uncertainty minimization and compares them to heuristics methods. The developed techniques are evaluated for non-ideal anchor scenario and different measurement rates.
Keywords :
distance measurement; gyroscopes; minimisation; mobile radio; position measurement; active sensing; anchor selection; associated position uncertainty; distance measurement; expected uncertainty minimization; gyroscope; heuristics methods; incremental encoder; localization scenario; measurement rates; mobile unit; nonideal anchor scenario; range measurements; simulated setup; stationary anchors; uncertainty-based range measurement selection criteria; Covariance matrix; Gyroscopes; Minimization; Noise; Noise measurement; Sensors; Uncertainty;
Conference_Titel :
Positioning Navigation and Communication (WPNC), 2012 9th Workshop on
Conference_Location :
Dresden
Print_ISBN :
978-1-4673-1437-4
DOI :
10.1109/WPNC.2012.6268756