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A Generic Bias-Correction Method with Application to Scan-Based Localization

Date

2011

Authors

Ji, Yiming
Yu, Changbin (Brad)
Anderson, Brian
Drake, Sam

Journal Title

Journal ISSN

Volume Title

Publisher

IEEE Control Systems Society

Abstract

In previous work a method was proposed to determine the bias in localization algorithms using range or bearing data. In this paper the method is extended to be more generic; in particular, different types of measurement data are permitted, and there may be more measurements than there are variables to estimate. The method combines the Taylor series and Jacobian matrices to determine the bias, and leads to an easily calculated analytical bias expression, despite the general unavailability of analytic expressions for the solution of most localization problems. The method is used to estimate the bias in scan-based localization. Monte Carlo simulation results verify the performance of the proposed method in this context.

Description

Keywords

Keywords: Bias; Geolocations; Passive localization; Scan-based localization; Targeting; Jacobian matrices; Monte Carlo methods; Surface discharges; Taylor series Bias; Geolocation; Passive Localization; Scan-based localization; Targeting; Taylor series; Tracking

Citation

Source

IEEE International Conference on Control and Automation (ICCA 2011) proceedings

Type

Conference paper

Book Title

Entity type

Access Statement

License Rights

DOI

10.1109/ICCA.2011.6138054

Restricted until

2037-12-31