An Error Propagation Aware Algorithm for Precise Cooperative Indoor Localization
An Error Propagation Aware Algorithm for Precise Cooperative Indoor Localization
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DOI：
10.1109/milcom.2006.302311
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发表时间：
2006-10
期刊：
影响因子：
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通讯作者：
N. Alsindi;K. Pahlavan;B. Alavi
中科院分区：
文献类型：
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作者：
N. Alsindi;K. Pahlavan;B. Alavi
近年来，传感器网络节点定位在军事上的应用引起了人们的广泛关注。尽管最近提出了一些建议，但是信道行为和协作算法的性能分析之间的关系还没有得到解决。文献中使用的关于测距误差统计的假设要么过于笼统，要么过于乐观。此外，当传感器相互协作定位时，不会尝试表征节点位置的误差。这种错误传播意识的缺乏可能会降低算法的性能并产生发散问题。在本文中，我们首先详细介绍了室内环境中的信道传播模型，这些模型是根据UWB信道测量结果建立的新的经验路径损耗(PL)和距离测量误差(DME)模型。然后，我们将这些模型集成到开发误差传播感知(EPA)精确协作定位算法中，该算法跟踪每个传感器节点中位置误差的程度及其对后续多侧的整体影响。最后，我们将算法与Cramer-Rao下界(CRLB)进行了比较。
Recently, node localization for sensor networks has attracted considerable attention for military application. Despite the recent proposals, the relationship between the channel behavior and the performance analysis of cooperative algorithms has not been addressed. The assumptions about the statistics of the ranging error used in the literature are either too general or overly optimistic. Additionally when sensors collaborate to localize each other, there is no attempt to characterize the error in the position of the nodes. This lack of error propagation-awareness can degrade the performance of an algorithm and create divergence problems. In this paper we first introduce detailed modeling of channel propagation in indoor environments in the form of novel empirical path loss (PL) and distance measurement error (DME) models developed from the results of UWB channel measurements. Then we integrate these models in developing error propagation aware (EPA) precise cooperative localization algorithm that tracks the extent of the position error in each sensor node and its overall effect on subsequent multi-laterations. Finally we compare the algorithm against the Cramer-Rao lower bound (CRLB)