Tuna G.Altun Y.Mumcu T.V.Gulez K.2024-06-122024-06-1220129.78364E+120302-9743https://doi.org/10.1007/978-3-642-31576-3_67https://hdl.handle.net/20.500.14551/16024IEEE Computational Intelligence Society;International Neural Network Society;National Science Foundation of China8th International Conference on Intelligent Computing Theories and Applications, ICIC 2012 -- 25 July 2012 through 29 July 2012 -- Huangshan -- 91948This 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.en10.1007/978-3-642-31576-3_67info:eu-repo/semantics/closedAccessEkf; Localization; Player/Stage; Unmanned Vehicle; WsnsComparative 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 VehiclesConference Object7390 LNAI5265332-s2.0-84865032186Q3