Title :
Reducing the complexity order of position estimators with combined radiolocation measurements
Author :
Youssef, J. ; Denis, B. ; Godin, C. ; Lesecq, S.
Author_Institution :
CEA-Leti / Minatec, Grenoble
Abstract :
As a growing attention is currently paid to low-cost energy-efficient radiolocation functionalities in a wide variety of wireless networks, one recurrent concern is to reduce the required processing time and the complexity of practical positioning estimators under deployment constraints (i.e. in terms of infrastructure, embedded computational capability and/or available measurements), while meeting simultaneously the best achievable accuracy. In this paper, we present a general method that reduces the complexity order of such position estimators with no noticeable performance degradation. The main idea consists in minimizing the number of observations that actually take part in the location computation. For this purpose, we propose to linearly combine available measurements into low-dimension observations that lead to the same Fisher Information Matrix (FIM) as that of more classical formulations (i.e. using measurements as direct observations). As an illustration, we show here how to apply this solution to two well-known position estimators, namely the linearized Least Squares (LS) estimator and the Extended Kalman Filter (EKF).
Keywords :
Kalman filters; least squares approximations; matrix algebra; position measurement; radio direction-finding; radio networks; EKF; extended Kalman filter; fisher information matrix; linearized least square estimator; position estimation; radiolocation measurement; wireless network; Computer networks; Current measurement; Degradation; Embedded computing; Energy efficiency; Energy measurement; Least squares approximation; Position measurement; Time measurement; Wireless networks; Complexity Order; Extended Kalman Filter; Least Squares; Location and Tracking; Position Estimation; Time Difference Of Arrival; Time Of Arrival;
Conference_Titel :
Positioning, Navigation and Communication, 2009. WPNC 2009. 6th Workshop on
Conference_Location :
Hannover
Print_ISBN :
978-1-4244-3292-9
Electronic_ISBN :
978-1-4244-3293-6
DOI :
10.1109/WPNC.2009.4907830