Localization performance enhancement using IMM fusion in cricket sensor network

In this paper, we propose an approach for estimating a location of moving-target over a sensor field via distributed IMM estimator with multiple pseudo measurements using trilateration positioning algorithm. Pseudo measurement which indirectly measures the position of target is defined by results of trilateration positioning coordinates. As a single node only can measure the distance to the target in Cricket sensor network, the nodes need to form groups of three to be able to perform trilateration. Also, since trilateration method ignores distance sensing error, adequate error covariance information is estimated in pseudo measurement model using self tuning method. Each distinct group can make local pseudo measurements and these data are fused with local IMM estimates. With these algorithms, localization performance enhancement of moving target is achieved.