An Adaptive Algorithm for Joint Cooperative Localization and Orientation Estimation using Belief Propagation

Lukas Wielandner; Erik Leitinger; Klaus Witrisal

doi:10.1109/IEEECONF53345.2021.9723249

An Adaptive Algorithm for Joint Cooperative Localization and Orientation Estimation using Belief Propagation

Lukas Wielandner, Erik Leitinger, Klaus Witrisal

Institut für Signalverarbeitung und Sprachkommunikation (4420)

Publikation: Beitrag in Buch/Bericht/Konferenzband › Beitrag in einem Konferenzband › Begutachtung

Abstract

In cooperative localization applications, measurement-model related model parameters are often assumed to be known even though they can depend strongly on the environment. This assumption can lead to a reduced localization accuracy due to parameter mismatch. In this paper, we propose an adaptive factor-graph-based algorithm for joint cooperative localization and orientation estimation which inherently estimates all unknown model parameters as well as the measurement uncertainty. We use RSS radio measurements and account for the directivity of the antennas with a parametric antenna pattern. We validate our proposed methods with simulations in a static scenario and show that there is only a small loss in positioning accuracy compared to known model parameters and measurement noise.

Originalsprache	englisch
Titel	55th Asilomar Conference on Signals, Systems and Computers, ACSSC 2021
Redakteure/-innen	Michael B. Matthews
Seiten	1591-1596
Seitenumfang	6
ISBN (elektronisch)	978-1-6654-5828-3
DOIs	https://doi.org/10.1109/IEEECONF53345.2021.9723249
Publikationsstatus	Veröffentlicht - 2021
Veranstaltung	55th Asilomar Conference on Signals, Systems, and Computers - Pacific Grove, USA / Vereinigte Staaten Dauer: 31 Okt. 2021 → 3 Nov. 2021

Publikationsreihe

Name	Conference Record - Asilomar Conference on Signals, Systems and Computers
Band	2021-October
ISSN (Print)	1058-6393

Konferenz

Konferenz	55th Asilomar Conference on Signals, Systems, and Computers
Land/Gebiet	USA / Vereinigte Staaten
Ort	Pacific Grove
Zeitraum	31/10/21 → 3/11/21

ASJC Scopus subject areas

Signalverarbeitung
Computernetzwerke und -kommunikation

Zugriff auf Dokument

10.1109/IEEECONF53345.2021.9723249

Andere Dateien und Links

Verknüpfung zur Publikation in Scopus

CD-Labor für Ortssensitive Elektronische Systeme
Witrisal, K. (Teilnehmer (Co-Investigator)), Grebien, S. J. (Teilnehmer (Co-Investigator)), Fuchs, A. (Teilnehmer (Co-Investigator)), Wilding, T. (Teilnehmer (Co-Investigator)), Venus, A. (Teilnehmer (Co-Investigator)) & Wielandner, L. (Teilnehmer (Co-Investigator))
1/01/18 → 31/12/25
Projekt: Forschungsprojekt

Dieses zitieren

Wielandner, L., Leitinger, E., & Witrisal, K. (2021). An Adaptive Algorithm for Joint Cooperative Localization and Orientation Estimation using Belief Propagation. in M. B. Matthews (Hrsg.), 55th Asilomar Conference on Signals, Systems and Computers, ACSSC 2021 (S. 1591-1596). (Conference Record - Asilomar Conference on Signals, Systems and Computers; Band 2021-October). https://doi.org/10.1109/IEEECONF53345.2021.9723249

An Adaptive Algorithm for Joint Cooperative Localization and Orientation Estimation using Belief Propagation. / Wielandner, Lukas ; Leitinger, Erik ; Witrisal, Klaus.
55th Asilomar Conference on Signals, Systems and Computers, ACSSC 2021. Hrsg. / Michael B. Matthews. 2021. S. 1591-1596 (Conference Record - Asilomar Conference on Signals, Systems and Computers; Band 2021-October).

Publikation: Beitrag in Buch/Bericht/Konferenzband › Beitrag in einem Konferenzband › Begutachtung

Wielandner, L , Leitinger, E & Witrisal, K 2021, An Adaptive Algorithm for Joint Cooperative Localization and Orientation Estimation using Belief Propagation. in MB Matthews (Hrsg.), 55th Asilomar Conference on Signals, Systems and Computers, ACSSC 2021. Conference Record - Asilomar Conference on Signals, Systems and Computers, Bd. 2021-October, S. 1591-1596, 55th Asilomar Conference on Signals, Systems, and Computers, Pacific Grove, California, USA / Vereinigte Staaten, 31/10/21. https://doi.org/10.1109/IEEECONF53345.2021.9723249

Wielandner L , Leitinger E , Witrisal K. An Adaptive Algorithm for Joint Cooperative Localization and Orientation Estimation using Belief Propagation. in Matthews MB, Hrsg., 55th Asilomar Conference on Signals, Systems and Computers, ACSSC 2021. 2021. S. 1591-1596. (Conference Record - Asilomar Conference on Signals, Systems and Computers). doi: 10.1109/IEEECONF53345.2021.9723249

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title = "An Adaptive Algorithm for Joint Cooperative Localization and Orientation Estimation using Belief Propagation",

abstract = "In cooperative localization applications, measurement-model related model parameters are often assumed to be known even though they can depend strongly on the environment. This assumption can lead to a reduced localization accuracy due to parameter mismatch. In this paper, we propose an adaptive factor-graph-based algorithm for joint cooperative localization and orientation estimation which inherently estimates all unknown model parameters as well as the measurement uncertainty. We use RSS radio measurements and account for the directivity of the antennas with a parametric antenna pattern. We validate our proposed methods with simulations in a static scenario and show that there is only a small loss in positioning accuracy compared to known model parameters and measurement noise.",

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AB - In cooperative localization applications, measurement-model related model parameters are often assumed to be known even though they can depend strongly on the environment. This assumption can lead to a reduced localization accuracy due to parameter mismatch. In this paper, we propose an adaptive factor-graph-based algorithm for joint cooperative localization and orientation estimation which inherently estimates all unknown model parameters as well as the measurement uncertainty. We use RSS radio measurements and account for the directivity of the antennas with a parametric antenna pattern. We validate our proposed methods with simulations in a static scenario and show that there is only a small loss in positioning accuracy compared to known model parameters and measurement noise.

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SP - 1591

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An Adaptive Algorithm for Joint Cooperative Localization and Orientation Estimation using Belief Propagation

Abstract

Publikationsreihe

Konferenz

ASJC Scopus subject areas

Zugriff auf Dokument

Andere Dateien und Links

Fingerprint

Projekte

CD-Labor für Ortssensitive Elektronische Systeme

Dieses zitieren