NDLI: Mobile Localization in Non-Line-of-Sight Using Constrained Square-Root Unscented Kalman Filter

Content Provider	IEEE Xplore Digital Library
Author	Yousefi, S. Xiao-Wen Chang Champagne, B.
Copyright Year	1967
Abstract	Localization and tracking of a mobile node (MN) in non-line-of-sight (NLOS) scenarios, based on time-of-arrival (TOA) measurements, is considered in this paper. We develop a constrained form of a square-root unscented Kalman filter (SRUKF), where the sigma points of the unscented transformation are projected onto the feasible region by solving constrained optimization problems. The feasible region is the intersection of several disks formed by the NLOS measurements. We show how we can reduce the size of the optimization problem and formulate it as a convex quadratically constrained quadratic program, which depends on the Cholesky factor of the a posteriori error covariance matrix of the SRUKF. As a result of these modifications, the proposed constrained SRUKF (CSRUKF) is more efficient and has better numerical stability compared to the constrained unscented Kalman filter (UKF). Through simulations, we also show that the CSRUKF achieves a smaller localization error compared to other techniques and that its performance is robust under different NLOS conditions.
Sponsorship	IEEE Vehicular Technology Society
Starting Page	2071
Ending Page	2083
Page Count	13
File Size	1008503
File Format	PDF
ISSN	00189545
Volume Number	64
Issue Number	5
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-01-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vectors Covariance matrices Manganese Kalman filters Noise Time measurement Noise measurement non-line-of-sight (NLOS) Constrained Kalman filter (KF) convex optimization localization
Content Type	Text
Resource Type	Article
Subject	Applied Mathematics Automotive Engineering Computer Networks and Communications Electrical and Electronic Engineering Aerospace Engineering

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