Error estimation for the linearized auto-localization algorithm

Guevara Rosas, Jorge I. and Jiménez Ruiz, Antonio Ramón and Prieto Honorato, José Carlos and Seco Granja, Fernando (2012). Error estimation for the linearized auto-localization algorithm. "Sensors", v. 12 (n. 3); pp. 2561-2581. ISSN 1424-8220. https://doi.org/10.3390/s120302561.

Description

Title: Error estimation for the linearized auto-localization algorithm
Author/s:
  • Guevara Rosas, Jorge I.
  • Jiménez Ruiz, Antonio Ramón
  • Prieto Honorato, José Carlos
  • Seco Granja, Fernando
Item Type: Article
Título de Revista/Publicación: Sensors
Date: March 2012
ISSN: 1424-8220
Volume: 12
Subjects:
Freetext Keywords: Auto-localization; auto-calibration; local positioning systems; differential sensitivity analysis; uncertainty propagation
Faculty: Centro de Automática y Robótica (CAR) UPM-CSIC
Department: Otro
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

The Linearized Auto-Localization (LAL) algorithm estimates the position of beacon nodes in Local Positioning Systems (LPSs), using only the distance measurements to a mobile node whose position is also unknown. The LAL algorithm calculates the inter-beacon distances, used for the estimation of the beacons’ positions, from the linearized trilateration equations. In this paper we propose a method to estimate the propagation of the errors of the inter-beacon distances obtained with the LAL algorithm, based on a first order Taylor approximation of the equations. Since the method depends on such approximation, a confidence parameter τ is defined to measure the reliability of the estimated error. Field evaluations showed that by applying this information to an improved weighted-based auto-localization algorithm (WLAL), the standard deviation of the inter-beacon distances can be improved by more than 30% on average with respect to the original LAL method.

More information

Item ID: 21257
DC Identifier: http://oa.upm.es/21257/
OAI Identifier: oai:oa.upm.es:21257
DOI: 10.3390/s120302561
Official URL: http://www.mdpi.com/1424-8220/12/3/2561
Deposited by: Memoria Investigacion
Deposited on: 06 Nov 2013 17:41
Last Modified: 21 Apr 2016 11:24
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