A Tutorial on Indoor Wireless Positioning with Anonymous Beacons using Random-Finite-Set Statistics

Date

2010

Authors

Bishop, Adrian

Journal Title

Journal ISSN

Volume Title

Publisher

Institute of Electrical and Electronics Engineers (IEEE Inc)

Abstract

The problem of global positioning using a rigorous Bayesian framework based on the theory of random finite sets and their corresponding density functions is covered in this condensed tutorial. The positioning scenario considered involves a number of anonymous beacons with known position relative to which the agent can measure its position. Since the beacons are anonymous, determining the agents position relative to a single (and even multiple in some cases) beacon is ambiguous. However, by exploiting the mobility of the agent through the environment, it is shown that it is possible to converge to an unambiguous position estimate. Random sets allow one to naturally develop a complete model of the underlying problem which accounts for the statistics of missed detections (due to signal weakness/blocking etc) and of spurious/erroneously detected beacons (due to potentially unmodeled beacons and/or reflected/multi-path signals). Following the derivation of a complete Bayesian solution, we outline a first-order statistical moment approximation, the so called probability hypothesis density filter.

Description

Keywords

Keywords: Bayesian frameworks; Bayesian solution; Density functions; First-order; Global positioning; Missed detections; Position estimates; Probability hypothesis density filter; Random finite sets; Random set; Statistical moments; Wireless positioning; Bayesian n

Citation

Source

IEEE International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC 2010) proceedings

Type

Conference paper

Book Title

Entity type

Access Statement

License Rights

DOI

10.1109/PIMRCW.2010.5670368

Restricted until

2037-12-31