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ISSN 1992-8424
ABSTRACT
This paper describes an effective method for dynamic location estimation by
Kalman Filter for range-based wireless network. The problem of locating a mobile
terminal has received significant attention in the field of wireless communications.
In this paper, Kalman Filter with TDOA technique describes the ranging
measurement tracking approach. Kalman filter is used for smoothing range data
and mitigating the NLOS errors. The paper presents a simple recursive model by
using time difference of arrival based location measurement and incorporating
state equality constraints in the Kalman filter. From the process of Kalman
filtering, the standard deviation of the observed range data can be calculated and
then used in NLOS/LOS hypothesis testing. The proposed recursive locating
algorithm, compared with a Kalman tracking algorithm that estimates the target
track directly from the TDOA measurements, will be comparatively more robust to
measurement errors because it updates the technique that feeds the location
corrections back to the Kalman Filter. It compensates for the measured geometrical
location and decreases random error influence to the location precision. Simulation
results show that the proposed location estimation algorithm can improve the
accuracysignificantly.
Keywords: Kalman filter, ranging, TDOA,CWLS.
INTRODUCTION
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measurement
based
on
ti in the presence of
rTOA ,i = d i nTOA ,i
= ( x xi )2 ( y yi )2 nTOA,i
(3)
i = 1,2, , M
where nTOA ,i is the range error in rTOA ,i . Eq. (3)
can also be expressed in a vector form as
(4)
where
(5)
(6)
and
(7)
Figure 1: Dynamic Location Architecture.
MEASUREMENT MODELS
This section describes the TOA and TDOA
T
( x xi ) 2 ( y yi ) 2
di =
where
(1)
i = 1,2 ..... M
ti =
where
di
c
i = 1,2, , M
(2)
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(8)
is the range error in
. Notice
where
that if the TDOA measurements are directly obtained
from the TOA data, then
(12)
3 LOCATION ESTIMATION
In general, the MS location is not determined
geometrically but is estimated from a set of nonlinear
equations constructed from the TOA, RSS, TDOA, or
AOA measurements, with the knowledge of the BS
geometry. Generally optimization approaches for
location are Nonlinear Least Square (NLS), Maximum
Likelihood (ML), Gaussian ML (GML), Genetic
Algorithm Method (GAM ) and Constrained Least
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where
It can be rewritten as
. Optimum estimate of the
location is computed by minimizing the following
CWLS cost function:
(13)
(21)
Squaring both sides of Eq. (13) and introducing an
intermediate variable , which has the form
(14)
where
is the covariance matrix of TDOA's
measure values, which is a function of the estimate of
, denoted by
[6].
The idea of CWLS estimator is to combine the key
principles in the CWLS and LCLS methods, the MS
location estimate is determined by minimizing Eq. (21)
subject to Eq. (20). For sufficiently small measurement
errors, the inverse of the optimum covariance matrix
for the CWLS algorithm is found using the best
linear unbiased estimator [2] as
(15)
(22)
(16)
where
where
(23)
(17)
And,
Since
(18)
,
[8].
and approximate
by
. Similar to [6],
the CWLS problem is solved by using the technique of
Lagrange multipliers and the Lagrangian to be
minimized is
(24)
where is the lagrange multiplier to be determined.
The estimate of is obtained by differentiating Eq.
(18)
with respect to and then equating
the results to zero [3] as
(19)
where
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(26)
where
measurement noise and can be modeled as a zeromean additive Gaussian random variable with variance
m ; NLOSm (ti ) is the NLOS error component in
the received signal. There is no NLOS error if the lineof-sight exists, in which case, the measurement error
nm (ti ) becomes the only source of range
measurement error. To mitigate the NLOS errors, the
existence of non-zero NLOS component needs to be
identified. To identify the change of channel situation
between NLOS and LOS, the standard deviation of the
estimated range data rm (ti ) can be calculate as
m =
1
N
( r m ( t i ) L m ( t i ))
i =1
(27)
where
(28)
X ( k 1) = A( k ) X ( k ) B( k )W( k ) ,
(29)
where X (k ) = [ Lm ( k )
(30)
Lm ( k )] is the state
matrix Q = w I , and
2
KALMAN FILTER
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(31)
The measurement process is
(32)
where
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and
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is the
Case 1: if
(39)
(40)
Case 2: if
(41)
(42)
Figure 3: NLOS mitigation using biased KF.
6 SIMULATION RESULTS
Simulation is performed for position estimation by
using MATLAB. It is assumed that 200 data samples
are measured with the sampling period 3s. The
vehicles have a velocity of 4m/s. The range data are
created by the true distance from each vehicle position
in the trajectory to the known three BSs. The
measurement noise is assumed to be AWGN and
NLOS noise is added to the true calculated range to get
the measured range data. The measurement noise is
assumed to be Gaussian distributed with zero mean
. The initial value
and a standard deviation
for the state vector is
.
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REFERENCES
with
the
7 CONCLUSION
The techniques and algorithm in this paper has
been developed to be used for dynamic location
estimation. GPS often use to localize objects; however,
the accuracy of the GPS receivers location estimate is
not reliable when the satellite signal is completely lost
or distorted by trees, high buildings, or tunnels. The
absence of satellite signals has been studied in much of
the research and a Kalman Filter has been employed in
order to integrate the GPS measurements with other
measurements and to overcome the outage of the
satellite signals. However, the distortion of the satellite
signal still causes misleading information for the
location.
In this paper, we present a range estimation
algorithm with NLOS error mitigation using biased
Kalman filter. Simulation results demonstrate the
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