TY - GEN
T1 - TDoA based UGV localization using adaptive kalman filter algorithm
AU - Sung, W. J.
AU - Choi, S. O.
AU - You, K. H.
PY - 2008
Y1 - 2008
N2 - The measurement with a signal of time difference of arrival (TDoA) is a widely used technique in source localization. However, this method involves much nonlinear calculation. In this paper, we propose a method that needs less computation for UGV location tracking using extended Kalman filtering based on non linear TDoA measurements. To overcome the inaccurate results due to limited linear approximation, this paper suggests a position estimation algorithm based upon an adaptive fading Kalman filter. The adaptive fading factor enables the estimator to change the error covariance according to the real situation. Through the comparison with other analytical methods, simulation results show that the proposed localization method achieves an improved accuracy even with reduced computational efforts.
AB - The measurement with a signal of time difference of arrival (TDoA) is a widely used technique in source localization. However, this method involves much nonlinear calculation. In this paper, we propose a method that needs less computation for UGV location tracking using extended Kalman filtering based on non linear TDoA measurements. To overcome the inaccurate results due to limited linear approximation, this paper suggests a position estimation algorithm based upon an adaptive fading Kalman filter. The adaptive fading factor enables the estimator to change the error covariance according to the real situation. Through the comparison with other analytical methods, simulation results show that the proposed localization method achieves an improved accuracy even with reduced computational efforts.
UR - https://www.scopus.com/pages/publications/67650257413
U2 - 10.1109/FGCNS.2008.126
DO - 10.1109/FGCNS.2008.126
M3 - Conference contribution
AN - SCOPUS:67650257413
SN - 9780769535463
SN - 9780769535463
T3 - Proceedings of the 2008 2nd International Conference on Future Generation Communication and Networking, FGCN 2008
SP - 99
EP - 103
BT - Proceedings - 2008 2nd International Conference on Future Generation Communication and Networking Symposia, FGCN 2008
T2 - 2008 2nd International Conference on Future Generation Communication and Networking Symposia, FGCN 2008
Y2 - 13 December 2008 through 15 December 2008
ER -