Range-based Weighted-likelihood Particle Filter for RSS-based Indoor Tracking

Li, Zan; Hossmann, Andreea Maria; Braun, Torsten (2015). Range-based Weighted-likelihood Particle Filter for RSS-based Indoor Tracking (Aachener Informatik-Berichte (AIB) 2015-08). Aachen, Germany: Department of Computer Science of RWTH Aachen University

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Attractive business cases in various application fields contribute to the sustained long-term interest in indoor localization and tracking by the research community. Location tracking is generally treated as a dynamic state estimation problem, consisting of two steps: (i) location estimation through measurement, and (ii) location prediction. For the estimation step, one of the most efficient and low-cost solutions is Received Signal Strength (RSS)-based ranging. However, various challenges - unrealistic propagation model, non-line of sight (NLOS), and multipath propagation - are yet to be addressed. Particle filters are a popular choice for dealing with the inherent non-linearities in both location measurements and motion dynamics. While such filters have been successfully applied to accurate, time-based ranging measurements, dealing with the more error-prone RSS based ranging is still challenging. In this work, we address the above issues with a novel, weighted likelihood, bootstrap particle filter for tracking via RSS-based ranging. Our filter weights the individual likelihoods from different anchor nodes exponentially, according to the ranging estimation. We also employ an improved propagation model for more accurate RSS-based ranging, which we suggested in recent work. We implemented and tested our algorithm in a passive localization system with IEEE 802.15.4 signals, showing that our proposed solution largely outperforms a traditional bootstrap particle filter.

Item Type:

Report (Report)

Division/Institute:

08 Faculty of Science > Institute of Computer Science (INF) > Communication and Distributed Systems (CDS)
08 Faculty of Science > Institute of Computer Science (INF)

UniBE Contributor:

Li, Zan; Hossmann, Andreea Maria and Braun, Torsten

Subjects:

000 Computer science, knowledge & systems
500 Science > 510 Mathematics

ISSN:

0935-3232

Series:

Aachener Informatik-Berichte (AIB)

Publisher:

Department of Computer Science of RWTH Aachen University

Language:

English

Submitter:

Sayed Ali Marandi

Date Deposited:

26 May 2015 11:08

Last Modified:

08 Aug 2017 07:38

Additional Information:

Proceedings of the 1st KuVS Expert Talk on Localization: Mathias Pelka, Jo Agila Bitsch, Horst Hellbrück, Klaus Wehrle (editors)

URI:

https://boris.unibe.ch/id/eprint/68816

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