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Cooperative Simultaneous Localization and Synchronization: A Distributed Hybrid Message Passing Algorithm

Bernhard Etzlinger ; Florian Meyer ; Franz Hlawatsch ; Henk Wymeersch (Institutionen för signaler och system, Kommunikationssystem)
IEEE 8th Sensor Array and Multichannel Signal Processing Workshop, SAM 2014; A Coruna; Spain; 22 June 2014 through 25 June 2014 (1058-6393). p. 1978-1982. (2013)
[Konferensbidrag, refereegranskat]

Cooperative sensor self-localization (CSL) in wireless networks usually requires the nodes to be equipped with specific ranging hardware including ultra-wideband or ultrasonic distance sensors. Such designs are not suitable for application in low-cost, low-power sensor networks. Here, we demonstrate how low-cost, low-power, asynchronous sensor nodes can be used to perform CSL (and, simultaneously, distributed synchronization) by means of time-stamped communication without additional ranging hardware. Our method combines a belief propagation message passing algorithm for cooperative simultaneous localization and synchronization (CoSLAS) with a MAC-layer time stamping scheme.We validate the models underlying the CoSLAS algorithm by means of measurements, and we demonstrate that the localization accuracy achieved by our hardware implementation is far better than that corresponding to the time resolution and measurement errors of the hardware.


Article number 6882331.



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Denna post skapades 2013-12-15. Senast ändrad 2016-12-06.
CPL Pubid: 189196

 

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Institutioner (Chalmers)

Institutionen för signaler och system, Kommunikationssystem (1900-2017)

Ämnesområden

Informations- och kommunikationsteknik
Signalbehandling

Chalmers infrastruktur

 


Projekt

Denna publikation är ett resultat av följande projekt:


Cooperative Situational Awareness for Wireless Networks (COOPNET) (EC/FP7/258418)