This paper proposes a novel Gaussian Mixture Filter (GMF) that allows components with negative weights. In case of a ring-shaped likelihood function, the new filter keeps the number of components low by approximating the likelihood as a Gaussian mixture (GM) of two components, one with positive and the other with negative weight. In this article, the filter is applied to positioning with received signal strength (RSS) based range measurements. The filter is tested using simulated measurements, and the tests indicate that the new GMF outperforms the Extended Kalman Filter (EKF) in both accuracy and consistency.
|Translated title of the contribution||Gaussian mixture filter allowing negative weights and its application to positioning using signal strength measurements|
|Title of host publication||Proceedings of WPNC 2012, 9th Workshop on Positioning, Navigation and Communication, March 15-16, 2012, Dresden, Germany|
|Place of Publication||Piscataway, NJ|
|Publication status||Published - 2012|
|Publication type||A4 Article in a conference publication|
|Name||Workshop on Positioning, Navigation and Communication|
- No publication forum level