Statistical Trilateration with Skew-t Errors

Philipp Müller, Robert Piche

    Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

    5 Citations (Scopus)
    154 Downloads (Pure)


    In the problem of determining a target's location using radio signal time-of-flight to reference nodes with known locations, measurement errors can be skewed because of multipath effects. In this paper, range errors are modelled using the skew-t distribution. An Expectation-Maximisation (EM) algorithm for computing the unknown location is presented, and its accuracy is compared with a descending Gauss-Newton algorithm by simulations. The EM algorithm improves the positioning accuracy significantly. Furthermore, it is shown how to fit the parameters of a skew-t distribution to training data using a Gibbs sampler.
    Original languageEnglish
    Title of host publication2015 International Conference on Localization and GNSS (ICL-GNSS)
    Place of PublicationGothenburg, Sweden
    Number of pages6
    ISBN (Print)9781479998593
    Publication statusPublished - Jun 2015
    Publication typeA4 Article in conference proceedings
    EventInternational Conference on Localization and GNSS -
    Duration: 1 Jan 1900 → …


    ConferenceInternational Conference on Localization and GNSS
    Period1/01/00 → …


    • Statistical trilateration
    • skew-t distribution
    • Localization
    • Expectation Maximization
    • Gibbs sampler

    Publication forum classification

    • Publication forum level 1


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