Robust mobile terminal tracking in NLOS environments using interacting multiple model algorithm

NLOS Identification and Mitigation for Mobile Tracking

“…Also, it is worth mentioning that performance comparison has only been made between the proposed approach and two existing methods. The performance of the other existing methods, including the method proposed in [30], is not evaluated through simulation in this paper. Figure 13 shows the impact of the heading measurement errors on the positional accuracy of the proposed algorithm.…”

Bayesian Cramer-Rao Bound for Mobile Terminal Tracking in Mixed LOS/NLOS Environments

“…In NLOS conditions, two additive and independent error sources occur, namely system noise and errors resulting from NLOS propagation. In the present analysis, the NLOS error is assumed to be Gaussian distributed with positive mean µ [5], [6]. In this case, w k (r k ) is Gaussian distributed with mean vector µ(r k ) and diagonal covariance matrix R(r k ), whose elements are given by…”

“…The area of developing multiple model-based filtering algorithms to solve this type of problem has become relative mature, see for instance [3]- [6]. We are interested here in the development of tight lower bounds on the positioning performance, which has been addressed so far only by a few authors [5], [6]. In [5], a conditional Cramér-Rao bound (CRB) for MT tracking using TOA measurements has been computed, which is based on an a-priori known mode sequence, a single MT trajectory and assuming zero process noise.…”

“…We are interested here in the development of tight lower bounds on the positioning performance, which has been addressed so far only by a few authors [5], [6]. In [5], a conditional Cramér-Rao bound (CRB) for MT tracking using TOA measurements has been computed, which is based on an a-priori known mode sequence, a single MT trajectory and assuming zero process noise. A general method to compute a Bayesian CRB (BCRB) for multiple model filtering with unknown mode sequence is presented in [7], which is hereinafter referred to as Enumer-BCRB.…”

Mobile Localization And Tracking With Los And Nlos Identification In Wireless Sensor Networks

“…This problem was the subject of several studies. Modeling the LOS/NLOS situations by a Markov chain process, the authors in [4,5] use the interacting multiple model algorithm, which runs several nonlinear Kalman filters in parallel, to cope with this problem.…”