An empirical ranging error model and efficient cooperative positioning for indoor applications

Shenghong Li, Mark Hedley, Iain B. Collings

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

3 Citations (Scopus)

Abstract

Distributed belief propagation is a promising technology for cooperative localization. Difficulties with belief propagation lie in achieving high accuracy without causing high communication overhead and computational complexity. In this paper, we propose an efficient cooperative localization algorithm based on distributed belief propagation and a new empirical indoor ranging error model, which can be applied to indoor localization systems with non-Gaussian ranging error distributions. To reduce the communication overhead and computational complexity, the algorithm passes approximate beliefs represented by Gaussian distributions between neighbours and uses an analytical approximation to compute peer-to-peer messages. The proposed algorithm is validated on an indoor localization system deployed with 28 nodes covering 8000 m2, and is shown to outperform existing algorithms.

Original languageEnglish
Title of host publication2015 IEEE International Conference on Communication Workshop, ICCW 2015
Place of PublicationPiscataway, NJ
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages773-778
Number of pages6
ISBN (Electronic)9781467363051
DOIs
Publication statusPublished - 8 Sep 2015
EventIEEE International Conference on Communication Workshop, ICCW 2015 - London, United Kingdom
Duration: 8 Jun 201512 Jun 2015

Other

OtherIEEE International Conference on Communication Workshop, ICCW 2015
CountryUnited Kingdom
CityLondon
Period8/06/1512/06/15

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Li, S., Hedley, M., & Collings, I. B. (2015). An empirical ranging error model and efficient cooperative positioning for indoor applications. In 2015 IEEE International Conference on Communication Workshop, ICCW 2015 (pp. 773-778). [7247275] Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/ICCW.2015.7247275