Hao Jing
An adaptive weighting based on modified DOP for collaborative indoor positioning
Jing, Hao; Pinchin, James; Hill, Chris; Moore, Terry
Abstract
Indoor localisation has always been a challenging problem due to poor Global Navigation Satellite System (GNSS) availability in such environments. While inertial measurement sensors have become popular solutions for indoor positioning, they suffer large drifts after initialisation. Collaborative positioning enhances positioning robustness by integrating multiple localisation information, especially relative ranging measurements between local users and transmitters. However, not all ranging measurements are useful throughout the whole positioning process and integrating too much data will increase the computation cost. To enable a more reliable positioning system, an adaptive collaborative positioning algorithm is proposed which selects units for the collaborative network and integrates ranging measurement to constrain inertial measurement errors. The algorithm selects the network adaptively from three perspectives: the network geometry, the network size and the accuracy level of the ranging measurements between the units. The collaborative relative constraint is then defined according to the selected network geometry and anticipated measurement quality. In the case of trials with real data, the positioning accuracy is improved by 60% by adjusting the range constraint adaptively according to the selected network situation, while also improving the system robustness.
Citation
Jing, H., Pinchin, J., Hill, C., & Moore, T. (2016). An adaptive weighting based on modified DOP for collaborative indoor positioning. Journal of Navigation, 69(2), https://doi.org/10.1017/S037346331500065X
Journal Article Type | Article |
---|---|
Acceptance Date | Aug 17, 2015 |
Online Publication Date | Sep 23, 2015 |
Publication Date | Mar 1, 2016 |
Deposit Date | May 5, 2016 |
Publicly Available Date | May 5, 2016 |
Journal | Journal of Navigation |
Print ISSN | 0373-4633 |
Electronic ISSN | 1469-7785 |
Publisher | Cambridge University Press |
Peer Reviewed | Peer Reviewed |
Volume | 69 |
Issue | 2 |
DOI | https://doi.org/10.1017/S037346331500065X |
Keywords | Indoor positioning; adaptive weighting; modified DOP |
Public URL | https://nottingham-repository.worktribe.com/output/774378 |
Publisher URL | http://dx.doi.org/10.1017/S037346331500065X |
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