Mobile Localization in Non-Line-of-Sight Using Constrained Square-Root Unscented Kalman Filter

Yousefi, Siamak; Chang, Xiao-Wen; Champagne, Benoı̂t

doi:10.1109/tvt.2014.2339734

Cited by 44 publications

(28 citation statements)

References 45 publications

(100 reference statements)

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“…where δ ρ ∼ N (0, σ 2 ρ ) denotes the zero-mean Gaussian noise for the clock offset evolution. Using the model (40) for the clock offsets and assuming the same motion model (26), we can write then a linear transition model for the state (39) within DoA/ToA Pos&Sync EKF such that…”

Section: A Positioning and Network Synchronization Ekf At Central Unitmentioning

confidence: 99%

Joint Device Positioning and Clock Synchronization in 5G Ultra-Dense Networks

Koivisto

Costa²,

Werner

et al. 2017

IEEE Trans. Wireless Commun.

191

152

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In this article, we address the prospects and key enabling technologies for highly efficient and accurate device positioning and tracking in fifth generation (5G) radio access networks. Building on the premises of ultra-dense networks (UDNs) as well as on the adoption of multicarrier waveforms and antenna arrays in the access nodes (ANs), we first formulate extended Kalman filter (EKF)-based solutions for computationally efficient joint estimation and tracking of the time of arrival (ToA) and direction of arrival (DoA) of the user nodes (UNs) using uplink (UL) reference signals. Then, a second EKF stage is proposed in order to fuse the individual DoA/ToA estimates from one or several ANs into a UN position estimate. Since all the processing takes place at the network side, the computing complexity and energy consumption at the UN side are kept to a minimum. The cascaded EKFs proposed in this article also take into account the unavoidable relative clock offsets between UNs and ANs, such that reliable clock synchronization of the access-link is obtained as a valuable by-product. The proposed cascaded EKF scheme is then revised and extended to more general and challenging scenarios where not only the UNs have clock offsets against the network time, but also the ANs themselves are not mutually synchronized in time. Finally, comprehensive performance evaluations of the proposed solutions on a realistic 5G network setup, building on the METIS project based outdoor Madrid map model together with complete ray tracing based propagation modeling, are provided. The obtained results clearly demonstrate that by using the developed methods, sub-meter scale positioning and tracking accuracy of moving devices is indeed technically feasible in future 5G radio access networks operating at sub-6 GHz frequencies, despite the realistic assumptions related to clock offsets and potentially even under unsynchronized network elements.

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Section: A Positioning and Network Synchronization Ekf At Central Unitmentioning

confidence: 99%

Joint Device Positioning and Clock Synchronization in 5G Ultra-Dense Networks

Koivisto

Costa²,

Werner

et al. 2017

IEEE Trans. Wireless Commun.

191

152

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show abstract

“…Because (n ξ0 , n ξi ) ∼ N 0, σ 2 ξ0 , 0, σ 2 ξi , 0 and ρ i = n ξ0 − n ξi , then we have (43), where f n ξ 0 ,n ξ i (n ξ0 , n ξi ) is the joint X BP (13) Uncertainty of X BP (13) by:…”

Section: A Derivation Of P 1imentioning

confidence: 99%

“…Kalman filter (KF) is one of the most widely implement of Bayes filters in multisensor fusion which provides the optimal estimate while both the process and measurement noise are Gaussian [14], [20], [40]- [42]. In the non-linear cases, the derivations of KF, such as extended KF (EKF) and the unscented KF (UKF) are more suitable [28], [43], [44]. KF-based interacting multiple model (IMM) provides adaptive solutions when the sensors have multiple dynamic models [4], [21].…”

Section: Introductionmentioning

confidence: 99%

Intelligent Multisensor Cooperative Localization Under Cooperative Redundancy Validation

Yin

Deng

2021

IEEE Trans. Cybern.

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Localization plays a key role in Internet of Things (IoT). This paper proposes a novel intelligent cooperative multisensor localization method called Edge Cloud Cooperative Localization (ECCL) which has the range and angle observations from the neighbour nodes along with the location observations from an absolute coordinate localization system like Global Positioning System (GPS). The edge cloud structure is proposed which employs several distributed Kalman Filters (KFs) in sensor nodes edge and a centralized cooperative fusion unit in the cloud. For a robust fusion, a Cooperative Redundancy Validation (CRV) method is proposed to detect the outliers. The proposed ECCL scheme has the advantages of both distributed and centralized localization, which satisfies the needs of high reliability and high accuracy, especially when sensor nodes have limited computational resources. The simulation and experiment results show that our proposed ECCL algorithm outperforms the other schemes both in outlier detection and localization accuracy.

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“…1 The LOS measurements can later be used in conventional localization algorithms (e.g., nonlinear least-squares or SPAWN [2]) by taking advantage of the bounds obtained in this work. 2 If the condition b ij + n ij ≥ 0 can not be guaranteed (e.g., due to large σn), a constant can be added to each r ij in the right hand side of (3) and (4) [14] to ensure that the position of each sensor is restricted to the intersection of discs with neighbouring nodes as centres. 3 We assume that for every sensor j, there is at least one neighbouring node with pairwise measurement r ij such that D j is not empty.…”

Section: B Definition Of Ellipsoidsmentioning

confidence: 99%

Tight Two-Dimensional Outer-Approximations of Feasible Sets in Wireless Sensor Networks

et al. 2016

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Finding a tight ellipsoid that contains the intersection of a finite number of ellipsoids is of interest in positioning applications for wireless sensor networks (WSNs). To this end, we propose a novel geometrical method in 2-dimensional (2-D) space. Specifically, we first find a tight polygon which contains the desired region and then obtain the tightest ellipse containing the polygon by solving a convex optimization problem. For demonstrating the usefulness of this method, we employ it in a distributed algorithm for elliptical outer-approximation of feasible sets in cooperative WSNs. Through simulations, we show that the proposed method gives a tighter bounding ellipse than conventional methods, while having similar computational cost.

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Mobile Localization in Non-Line-of-Sight Using Constrained Square-Root Unscented Kalman Filter

Cited by 44 publications

References 45 publications

Joint Device Positioning and Clock Synchronization in 5G Ultra-Dense Networks

Joint Device Positioning and Clock Synchronization in 5G Ultra-Dense Networks

Intelligent Multisensor Cooperative Localization Under Cooperative Redundancy Validation

Tight Two-Dimensional Outer-Approximations of Feasible Sets in Wireless Sensor Networks

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