NDLI: Moving-Baseline Localization

Content Provider	IEEE Xplore Digital Library
Author	Jun-geun Park Demaine, E.D. Teller, S.
Copyright Year	2008
Description	Author affiliation: Comput. Sci. & Artificial Intell. Lab., MIT, Cambridge, MA (Jun-geun Park; Demaine, E.D.; Teller, S.)
Abstract	The moving-baseline localization (MBL) problem arises when a group of nodes moves through an environment in which no external coordinate reference is available. When group members cannot see or hear one another directly, each node must employ local sensing and inter-device communication to infer the spatial relationship and motion of all other nodes with respect to itself. We consider a setting in which nodes move with piecewise-linear velocities in the plane, and any node can exchange noisy range estimates with certain sufficiently nearby nodes. We develop a distributed solution to the MBL problem in the plane, in which each node performs robust hyperbola fitting, trilateration with velocity constraints, and subgraph alignment to arrive at a globally consistent view of the network expressed in its own "rest frame." Changes in any node's motion cause deviations between observed and predicted ranges at nearby nodes, triggering revision of the trajectory estimates computed by all nodes. We implement and analyze our algorithm in a simulation informed by the characteristics of a commercially available ultra-wideband (UWB) radio, and show that recovering node trajectories, rather than just locations, requires substantially less computation at each node. Finally, we quantify the minimum ranging rate and local network density required for the method's successful operation.
Starting Page	15
Ending Page	26
File Size	1387460
Page Count	12
File Format	PDF
ISBN	9780769531571
DOI	10.1109/IPSN.2008.65
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-04-22
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Algorithm design and analysis localization Piecewise linear techniques Motion estimation motion Intelligent sensors Global Positioning System Computer science Analytical models GPS-denied environment Information processing Distributed algorithms Ultra wideband technology
Content Type	Text
Resource Type	Article

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