A simple particle filter algorithm with adaptive resampling is implemented showing that land-based range-only radio beacons can provide adequate localization within a port facility. Each beacon transmits its identity along with the range, thus solving the data association problem on the hardware level. The operation of the algorithm is assessed using a single set of experimental data with a 1,000 particle implementation. The associated computational load can be handled on-line by a standard PC. In the same environment the GPS absolute localization is likely to fail.
Particle Filter Application to Localization
01.01.2009
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
proposal density , range-only land-based beacons , Particle filter localization , data association Applications of Mathematics , Computer Systems Organization and Communication Networks , Computer Science , Information Systems and Communication Service , Computer Appl. in Social and Behavioral Sciences , Computer Imaging, Vision, Pattern Recognition and Graphics
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