RSS-based Cooperative Localization and Orientation Estimation Exploiting Directive Antenna Patterns

Autor:	Wielandner, Lukas, Leitinger, Erik, Witrisal, Klaus
Rok vydání:	2021
Předmět:	Electrical Engineering and Systems Science - Signal Processing
Druh dokumentu:	Working Paper
Popis:	In this paper, we propose a factor-graph-based cooperative positioning algorithm that uses RSS radio measurements and accounts for the directivity of the antennas. This is achieved by modeling the directivity with a parametric antenna pattern and jointly estimating position and orientation of the agents. We propose two different approaches whereas the first one uses a continuous representation of the orientation state and the second one a discrete representation. We validate our proposed methods with simulations and measurements in a static sensor network with more than 900 agents in an indoor environment and show that the positioning accuracy can be improved significantly by considering the influence of orientations. Comment: 14 pages,11 figures, 2 tables. To be published in IEEE Access 2021
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2103.13181 Zobrazit plný text záznamu View this record from Arxiv