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

Publication series

NameProceedings of the SICE Annual Conference

Other

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

All Science Journal Classification (ASJC) codes

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

Fingerprint Dive into the research topics of 'Position and heading tracking in sensor network via instrumental variable estimation'. Together they form a unique fingerprint.

  • 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] (Proceedings of the SICE Annual Conference). Society of Instrument and Control Engineers (SICE).