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Linear system construction of multilateration based on error propagation estimation

Yanjun Hu,Lei Zhang,Li Gao,Xiaoping Ma,Enjie Ding

Published 2016 in EURASIP Journal on Wireless Communications and Networking

ABSTRACT

Iterative localization algorithms are critical part in the control of mobile autonomous robots because they feed fundamental position information to the robots. In a harsh unknown environment, the estimation of environmental noise is hardly obtained during the movement of the robots. It means that the state-of-the-art methods, which increase localization accuracy using error management, are unsuitable. In this paper, we deduced an upper bound of the localization error without knowing the precise model of environment noise when the anchor nodes have position errors. Utilizing the minimum upper bound, we can construct an optimal localization linear system of iterative localization algorithms based on least square. An algorithm of generating localization linear system is proposed by using the minimum upper bound. The algorithm reduces the impact of the shortage of environmental information on localization error propagation. Our simulation results show that the algorithm is insensitive to noise and can improve the localization accuracy by constructing a proper localization linear system with a high probability.

PUBLICATION RECORD

  • Publication year

    2016

  • Venue

    EURASIP Journal on Wireless Communications and Networking

  • Publication date

    2016-06-29

  • Fields of study

    Computer Science, Engineering

  • Identifiers
    DOI 10.1186/S13638-016-0657-6
  • External record

    Open on Semantic Scholar

  • Source metadata

    Semantic Scholar

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