Citation
Dopico, Nelson Ivan and Béjar Haro, Benjamín and Valcarcel Macua, Sergio and Belanovic, Pavle and Zazo Bello, Santiago
(2011).
Improved Animal Tracking Algorithm using Distributed Kalman Filter-based Algortihms.
In: "11th European Wireless Conference 2011 - Sustainable Wireless Technologies (European Wireless)", 27/04/2011 - 29/04/2011, Viena, Austria. ISBN 978-3-8007-3343-9. pp. 631-638.
Abstract
Animal tracking has been addressed by different initiatives over the last two decades. Most of them rely on satellite connectivity on every single node and lack of energy-saving strategies. This paper presents several new contributions on the tracking of dynamic heterogeneous asynchronous networks (primary nodes with GPS and secondary nodes with a kinetic generator) motivated by the animal tracking paradigm with random transmissions. A simple approach based on connectivity and coverage intersection is compared with more sophisticated algorithms based on ad-hoc implementations of distributed Kalman-based filters that integrate measurement information using Consensus principles in order to provide enhanced accuracy. Several simulations varying the coverage range, the random behavior of the kinetic generator (modeled as a Poisson Process) and the periodic activation of GPS are included. In addition, this study is enhanced with HW developments and implementations on commercial off-the-shelf equipment which show the feasibility for performing these proposals on real hardware.