WSN aided indoor localization for unmanned vehicles
Küçük Resim Yok
Tarih
2012
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
This paper presents design considerations of an Extended Kalman Filter (EKF) based Wireless Sensor Network (WSN) aided indoor localization for unmanned vehicles (UV). In this approach, we integrate Received Signal Strength Indicator (RSSI) measurements into an EKF based localization system. The localization system primarily uses measurements from a Laser Range Finder (LRF) and keeps track of the current position of the UV using an EKF-based algorithm. The integration of RSSI measurements at predetermined intervals improves the accuracy of the localization system. It may also prevent large drifts from the ground truth, kidnapping, and loop closure errors. Player/Stage based simulation studies were conducted to prove the effectiveness of the proposed system. The results of the comparative simulations show that integrating RSSI measurements into the localization system improves the system's accuracy. © 2012 Springer-Verlag.
Açıklama
IEEE Computational Intelligence Society;International Neural Network Society;National Science Foundation of China
8th International Conference on Intelligent Computing Theories and Applications, ICIC 2012 -- 25 July 2012 through 29 July 2012 -- Huangshan -- 91948
8th International Conference on Intelligent Computing Theories and Applications, ICIC 2012 -- 25 July 2012 through 29 July 2012 -- Huangshan -- 91948
Anahtar Kelimeler
Ekf; Localization; Player/Stage; Unmanned Vehicle; Wsns, Comparative Simulation; Design Considerations; Ekf; Ground Truth; Indoor Localization; Laser Range Finders; Localization; Localization System; Loop Closure; Player/Stage; Received Signal Strength Indicators; Rssi Measurement; Simulation Studies; Wsns; Intelligent Computing; Wireless Sensor Networks; Unmanned Vehicles
Kaynak
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
WoS Q Değeri
Scopus Q Değeri
Q3
Cilt
7390 LNAI
