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
2009-01-01
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Particle filter localization , range-only land-based beacons , data association , proposal density Computer Science , Computer Systems Organization and Communication Networks , Applications of Mathematics , Information Systems and Communication Service , Computer Imaging, Vision, Pattern Recognition and Graphics , Computer Appl. in Social and Behavioral Sciences
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