Linear estimation method for position and heading with RDOA measurements

G. H. Choi, H. S. Cheon, J. B. Park, T. S. Yoon

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Passive localization in the sensor network has been studied in many areas. Especially, the estimation of the position and heading for the target is an important subject in the navigation problems. We estimate the position and the heading information only with range difference of arrival measurements. The proposed algorithms are based on the pseudo linear measurement equation transformed from the nonlinear one and uses the instrumental variable method to remove estimation errors. It does not need additional computational burden so that it will be advantageous to real time applications. To show the usefulness of the proposition, we simulate it in the various positions and headings comparing with a nominal least squares method and the robust least squares method.

Original languageEnglish
Title of host publicationProceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11
Pages991-994
Number of pages4
Publication statusPublished - 2011 Dec 1
Event16th International Symposium on Artificial Life and Robotics, AROB '11 - Beppu, Oita, Japan
Duration: 2011 Jan 272011 Jan 29

Publication series

NameProceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11

Other

Other16th International Symposium on Artificial Life and Robotics, AROB '11
CountryJapan
CityBeppu, Oita
Period11/1/2711/1/29

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction

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  • Cite this

    Choi, G. H., Cheon, H. S., Park, J. B., & Yoon, T. S. (2011). Linear estimation method for position and heading with RDOA measurements. In Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11 (pp. 991-994). (Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11).