Position and heading tracking in sensor network via instrumental variable estimation

Ga Hyung Choi, Hyo Seok Cheon, Jin Bae Park, Tae Sung Yoon

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

2 Citations (Scopus)

Abstract

Mobile robot control or an assistive system for the visual disabled needs real-time and stable estimation results for the position and heading information. If the information is estimated in time difference of arrival (TDOA) based sensor network, a linear estimator can be applied to this problem which is not suffering from the initial guess problem and can be derived in a recursive formula. However, it requires a computational burden to compensate the correlation error and biased error caused by TDOA measurement noise. Additionally, many literatures have treated TDOA measurements rather focusing on the stationary target. In this work, we propose a position and heading estimator based on the instrument variable (IV) method which is able to flee from the correlation problem and reflects a constant velocity model. Through simulations, the performance of the proposed method is verified by showing the position and heading estimation results for a moving target.

Original languageEnglish
Title of host publicationSICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
PublisherSociety of Instrument and Control Engineers (SICE)
Pages2032-2036
Number of pages5
ISBN (Print)9784907764395
Publication statusPublished - 2011 Jan 1
Event50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan
Duration: 2011 Sep 132011 Sep 18

Other

Other50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
CountryJapan
CityTokyo
Period11/9/1311/9/18

Fingerprint

Sensor networks
Mobile robots
Time difference of arrival

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Choi, G. H., Cheon, H. S., Park, J. B., & Yoon, T. S. (2011). Position and heading tracking in sensor network via instrumental variable estimation. In SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts (pp. 2032-2036). [6060304] Society of Instrument and Control Engineers (SICE).
Choi, Ga Hyung ; Cheon, Hyo Seok ; Park, Jin Bae ; Yoon, Tae Sung. / Position and heading tracking in sensor network via instrumental variable estimation. SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts. Society of Instrument and Control Engineers (SICE), 2011. pp. 2032-2036
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Choi, GH, Cheon, HS, Park, JB & Yoon, TS 2011, Position and heading tracking in sensor network via instrumental variable estimation. in SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts., 6060304, Society of Instrument and Control Engineers (SICE), pp. 2032-2036, 50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011, Tokyo, Japan, 11/9/13.

Position and heading tracking in sensor network via instrumental variable estimation. / Choi, Ga Hyung; Cheon, Hyo Seok; Park, Jin Bae; Yoon, Tae Sung.

SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts. Society of Instrument and Control Engineers (SICE), 2011. p. 2032-2036 6060304.

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

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AB - Mobile robot control or an assistive system for the visual disabled needs real-time and stable estimation results for the position and heading information. If the information is estimated in time difference of arrival (TDOA) based sensor network, a linear estimator can be applied to this problem which is not suffering from the initial guess problem and can be derived in a recursive formula. However, it requires a computational burden to compensate the correlation error and biased error caused by TDOA measurement noise. Additionally, many literatures have treated TDOA measurements rather focusing on the stationary target. In this work, we propose a position and heading estimator based on the instrument variable (IV) method which is able to flee from the correlation problem and reflects a constant velocity model. Through simulations, the performance of the proposed method is verified by showing the position and heading estimation results for a moving target.

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Choi GH, Cheon HS, Park JB, Yoon TS. Position and heading tracking in sensor network via instrumental variable estimation. In SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts. Society of Instrument and Control Engineers (SICE). 2011. p. 2032-2036. 6060304