An Indoor Tracking Algorithm Based on Particle Filter and Nearest Neighbor Data Fusion for Wireless Sensor Networks

Abstract

Wireless indoor localization technology is a hot research field at present. Its basic principle is to estimate the geometric position of the mobile node by measuring the characteristic parameters of the propagation signal between the mobile node and the beacon node. However, in the process of position estimation, there are non-line-of-sight errors such as multipath propagation, which greatly reduces the localization accuracy. This paper proposes an enhanced closest neighbor data association approach based on ultra-wide band (UWB) measurement. First, the measured values were grouped to obtain a series of undetermined prediction position points, and the undetermined points were put into our set verification gate for screening. Then, the particle filter was introduced to weight and redistribute the position estimation after screening, removing the NLOS-contaminated location estimation from consideration. The position estimation group with low error was finally confirmed and weighted again by the nearest neighbor association algorithm. Simulation results showed that the average localization accuracy of the proposed method was about 1 m. Compared with the existing localization algorithms, the proposed method can successfully reduce the influence of NLOS error and obtain higher localization accuracy.

Radar Error Correction Method Based on Improved Sparrow Search Algorithm

“…The basic principle is shown in Figure 2. The correlation between the GNSS and radar measurement data is the primary link of radar calibration, which can be realized by the nearest neighbor (NN) association algorithm [25], joint probability data association (JPDA) [26], and other algorithms. There are many relevant studies and the technology is relatively mature, so this paper will not go into detail.…”

“…Due to the high speed of the aircraft when moving, the position error caused by the communication delay cannot be ignored. The GNSS data transmission period of the cooperation target is set as TG, the radar measurement period as TR, the GNSS data The correlation between the GNSS and radar measurement data is the primary link of radar calibration, which can be realized by the nearest neighbor (NN) association algorithm [25], joint probability data association (JPDA) [26], and other algorithms. There are many relevant studies and the technology is relatively mature, so this paper will not go into detail.…”

Comprehensive Evaluations of NLOS and Linearization Errors on UWB Positioning

“…When the system is nonlinear, this algorithm has better filtering performance and the ability to deal with the influence of non-Gaussian noise compared with other algorithms. Therefore, it is widely used in the positioning system [36].…”

Real-Time Three-Dimensional Pedestrian Localization System Using Smartphones

“…The purpose of this study is to quickly estimate and track the user’s location in large-scale indoor environments such as hospitals, airports, and shopping malls. While ultra-wide band (UWB) [ 7 ] or angle of arrival (AOA) [ 8 ] systems are capable of accurately estimating user location, they are not suitable because they require separate expensive infrastructure installation and a user receiver to build the system in the above-mentioned environments. It is more economical and practical to utilize existing infrastructure, such as WiFi access points or BLE beacons, and it is essential to use smartphones for an indoor navigation system for general users [ 9 ].…”