Hybrid GNSS-Terrestrial Cooperative Positioning Based on Particle Filter

Sottile, Francesco; Wymeersch, Henk; Caceres, Mauricio A.; Spirito, Maurizio A.

doi:10.1109/glocom.2011.6134002

Cited by 46 publications

(35 citation statements)

References 7 publications

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“…Both the EKF and UKF treat the neighbors' position uncertainties as range measurement errors, which leads to performance loss. In [8], it proposes the particle filter for cooperative localization in hybrid GNSS-terrestrial environment, which is especially useful for nonlinear systems at the cost of a huge computational complexity. Also, message passing algorithms [9]- [11] on factor graph [12] are studied for cooperative localization, which are attractive for the distributed localization.…”

Section: Introductionmentioning

confidence: 99%

Gaussian message passing for cooperative localization in wireless networks

Wang

et al. 2014

2014 IEEE/CIC International Conference on Communications in China (ICCC)

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Cooperative localization has become a novel technique to improve the performance in harsh environment with insufficient anchors. In this paper, distributed cooperative localization is studied based on message passing on factor graph. The factor graph is constructed according to the joint a posteriori distribution of nodes' positions. Because of the nonlinearity between the positions and observations, the updates of messages using the sum-product algorithm cannot obtain closed forms. To tackle the nonlinearity, the linearization of range measurement based on its own and the neighbors' positions is utilized. Accordingly, we are able to derive all the messages on factor graph and the nodes' position posteriors as Gaussian distributions, which only requires to update the mean vectors and covariance matrices. Numerical results are performed for both static and mobile networks. The performance of the proposed algorithm reaches better performance than the maximum likelihood estimator, SPAWN, and extended Kalman filter. Besides, the proposed algorithm holds the low communication overhead by transmitting the parametric messages between the nodes.

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Section: Introductionmentioning

confidence: 99%

Gaussian message passing for cooperative localization in wireless networks

Wang

et al. 2014

2014 IEEE/CIC International Conference on Communications in China (ICCC)

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“…More specifically, work in [4] proposes a distributed PF utilizing a Gaussian mixture model (GMM) with a fixed number of Gaussians for distributed target tracking. Assuming availability of a global navigation satellite systems (GNSS), work in [5] derives a hybrid distributed particle filter and posterior distributions are approximated as a single Gaussian distribution. Subsequent and relevant work can be found in [6] where posteriors are represented as a single multivariate Gaussian distribution, with parameters estimated through importance sampling, sample mean and variance estimators.…”

Section: Introductionmentioning

confidence: 99%

Narrowband cooperative network localization

Fasarakis-Hilliard

Alevizos

Bletsas

2014

2014 IEEE Global Communications Conference

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We consider the problem of distributed cooperative location estimation in motionless and mobile narrowband wireless sensor networks (WSNs), where network terminals (to be localized) are several hops away from the anchor nodes (with a priori known location). Such problem is inspired by practical setups where communication bandwidth is limited, as in underwater systems with narrow-band acoustic modems. A cooperative and distributed particle filter (Coop-PF) is designed, where network nodes exchange information locally, i.e. only with neighboring terminals. However, each node does not communicate particles. Instead, a combination of clustering, mixture models and parameterization of the communicated information is explored. The proposed approach improves performance compared to utilizing a fixed Gaussian mixture model and demonstrates accuracy comparable to state-of-the-art wideband cooperative localization, while achieving a two orders of magnitude reduction in communication. As a collateral dividend, a computationallyefficient version is also offered.

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“…Pei (2009) presented three optional indoor/outdoor locating solutions based on multi-sensors, satellite and terrestrial mobile communication network. GNSS and Terrestrial (Sottile et al, 2011) are the most mature and popular technologies for the outdoor positioning. The indoor positioning research has become a hot topic already, and many methods and technologies by sensors were put forward to obtain an accurate indoor location in many research projects.…”

Section: Introductionmentioning

confidence: 99%

Coordinate references for the indoor/outdoor seamless positioning

Ruan

Zhang

Long

et al. 2018

Proc. Int. Cartogr. Assoc.

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Indoor positioning technologies are being developed rapidly, and seamless positioning which connected indoor and outdoor space is a new trend. The indoor and outdoor positioning are not applying the same coordinate system and different indoor positioning scenes uses different indoor local coordinate reference systems. A specific and unified coordinate reference frame is needed as the space basis and premise in seamless positioning application. Trajectory analysis of indoor and outdoor integration also requires a uniform coordinate reference. However, the coordinate reference frame in seamless positioning which can applied to various complex scenarios is lacking of research for a long time. In this paper, we proposed a universal coordinate reference frame in indoor/outdoor seamless positioning. The research focus on analysis and classify the indoor positioning scenes and put forward the coordinate reference system establishment and coordinate transformation methods in each scene. And, through some experiments, the calibration method feasibility was verified.

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Hybrid GNSS-Terrestrial Cooperative Positioning Based on Particle Filter

Cited by 46 publications

References 7 publications

Gaussian message passing for cooperative localization in wireless networks

Gaussian message passing for cooperative localization in wireless networks

Narrowband cooperative network localization

Coordinate references for the indoor/outdoor seamless positioning

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