6,456 research outputs found
Cooperative and Distributed Localization for Wireless Sensor Networks in Multipath Environments
We consider the problem of sensor localization in a wireless network in a
multipath environment, where time and angle of arrival information are
available at each sensor. We propose a distributed algorithm based on belief
propagation, which allows sensors to cooperatively self-localize with respect
to one single anchor in a multihop network. The algorithm has low overhead and
is scalable. Simulations show that although the network is loopy, the proposed
algorithm converges, and achieves good localization accuracy
Implicit Cooperative Positioning in Vehicular Networks
Absolute positioning of vehicles is based on Global Navigation Satellite
Systems (GNSS) combined with on-board sensors and high-resolution maps. In
Cooperative Intelligent Transportation Systems (C-ITS), the positioning
performance can be augmented by means of vehicular networks that enable
vehicles to share location-related information. This paper presents an Implicit
Cooperative Positioning (ICP) algorithm that exploits the Vehicle-to-Vehicle
(V2V) connectivity in an innovative manner, avoiding the use of explicit V2V
measurements such as ranging. In the ICP approach, vehicles jointly localize
non-cooperative physical features (such as people, traffic lights or inactive
cars) in the surrounding areas, and use them as common noisy reference points
to refine their location estimates. Information on sensed features are fused
through V2V links by a consensus procedure, nested within a message passing
algorithm, to enhance the vehicle localization accuracy. As positioning does
not rely on explicit ranging information between vehicles, the proposed ICP
method is amenable to implementation with off-the-shelf vehicular communication
hardware. The localization algorithm is validated in different traffic
scenarios, including a crossroad area with heterogeneous conditions in terms of
feature density and V2V connectivity, as well as a real urban area by using
Simulation of Urban MObility (SUMO) for traffic data generation. Performance
results show that the proposed ICP method can significantly improve the vehicle
location accuracy compared to the stand-alone GNSS, especially in harsh
environments, such as in urban canyons, where the GNSS signal is highly
degraded or denied.Comment: 15 pages, 10 figures, in review, 201
Cooperative Simultaneous Localization and Synchronization in Mobile Agent Networks
Cooperative localization in agent networks based on interagent time-of-flight
measurements is closely related to synchronization. To leverage this relation,
we propose a Bayesian factor graph framework for cooperative simultaneous
localization and synchronization (CoSLAS). This framework is suited to mobile
agents and time-varying local clock parameters. Building on the CoSLAS factor
graph, we develop a distributed (decentralized) belief propagation algorithm
for CoSLAS in the practically important case of an affine clock model and
asymmetric time stamping. Our algorithm allows for real-time operation and is
suitable for a time-varying network connectivity. To achieve high accuracy at
reduced complexity and communication cost, the algorithm combines particle
implementations with parametric message representations and takes advantage of
a conditional independence property. Simulation results demonstrate the good
performance of the proposed algorithm in a challenging scenario with
time-varying network connectivity.Comment: 13 pages, 6 figures, 3 tables; manuscript submitted to IEEE
Transaction on Signal Processin
Distributed Local Linear Parameter Estimation using Gaussian SPAWN
We consider the problem of estimating local sensor parameters, where the
local parameters and sensor observations are related through linear stochastic
models. Sensors exchange messages and cooperate with each other to estimate
their own local parameters iteratively. We study the Gaussian Sum-Product
Algorithm over a Wireless Network (gSPAWN) procedure, which is based on belief
propagation, but uses fixed size broadcast messages at each sensor instead.
Compared with the popular diffusion strategies for performing network parameter
estimation, whose communication cost at each sensor increases with increasing
network density, the gSPAWN algorithm allows sensors to broadcast a message
whose size does not depend on the network size or density, making it more
suitable for applications in wireless sensor networks. We show that the gSPAWN
algorithm converges in mean and has mean-square stability under some technical
sufficient conditions, and we describe an application of the gSPAWN algorithm
to a network localization problem in non-line-of-sight environments. Numerical
results suggest that gSPAWN converges much faster in general than the diffusion
method, and has lower communication costs, with comparable root mean square
errors
Target Tracking in Confined Environments with Uncertain Sensor Positions
To ensure safety in confined environments such as mines or subway tunnels, a
(wireless) sensor network can be deployed to monitor various environmental
conditions. One of its most important applications is to track personnel,
mobile equipment and vehicles. However, the state-of-the-art algorithms assume
that the positions of the sensors are perfectly known, which is not necessarily
true due to imprecise placement and/or dropping of sensors. Therefore, we
propose an automatic approach for simultaneous refinement of sensors' positions
and target tracking. We divide the considered area in a finite number of cells,
define dynamic and measurement models, and apply a discrete variant of belief
propagation which can efficiently solve this high-dimensional problem, and
handle all non-Gaussian uncertainties expected in this kind of environments.
Finally, we use ray-tracing simulation to generate an artificial mine-like
environment and generate synthetic measurement data. According to our extensive
simulation study, the proposed approach performs significantly better than
standard Bayesian target tracking and localization algorithms, and provides
robustness against outliers.Comment: IEEE Transactions on Vehicular Technology, 201
Cooperative Localization for Mobile Networks:A Distributed Belief Propagation – Mean Field Message Passing Algorithm
We propose a hybrid message passing method for distributed cooperative
localization and tracking of mobile agents. Belief propagation and mean field
message passing are employed for, respectively, the motion-related and
measurement-related part of the factor graph. Using a Gaussian belief
approximation, only three real values per message passing iteration have to be
broadcast to neighboring agents. Despite these very low communication
requirements, the estimation accuracy can be comparable to that of
particle-based belief propagation.Comment: 5 pages, 1 figur
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