Author:
Seong Yun Cho
Affiliation:
School of Robotics Engineering, Kyungil University, 50 Gamasilgil, Hayangup, Kyungsan and Republic of Korea
Keyword(s):
Indoor Wireless Localization, Ultra-wideband, Cubature Kalman Filter.
Related
Ontology
Subjects/Areas/Topics:
Engineering Applications
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
Abstract:
Ultra-wideband has been widely used for accurate wireless indoor localization systems due to accurate ranging measurement capability. There are several methods for ranging-based localization systems: iterative methods, linear closed-form solutions, model-based filters, etc. These methods have their advantages and disadvantages. In this paper, the characteristics of these methods are analysed and a cubature Kalman filter-based localization method is presented to improve the localization performance in various indoor environments.