UWB Positioning with Generalized Gaussian Mixture Filters

Philipp Muller, Henk Wymeersch, Robert Piche

    Research output: Contribution to journalArticleScientificpeer-review

    32 Citations (Scopus)
    130 Downloads (Pure)

    Abstract

    Low-complexity Bayesian filtering for nonlinear models is challenging. Approximative methods based on Gaussian mixtures (GM) and particle filters are able to capture multimodality, but suffer from high computational demand. In this paper, we provide an in-depth analysis of a generalized GM (GGM), which allows component weights to be negative, and requires significantly fewer components than the traditional GM for ranging models. Based on simulations and tests with real data from a network of UWB nodes, we show how the algorithm’s accuracy depends on the uncertainty of the measurements. For nonlinear ranging the GGM filter outperforms the extended Kalman filter (EKF) in both positioning accuracy and consistency in environments with uncertain measurements, and requires only slightly higher computational effort when the number of measurement channels is small. In networks with highly reliable measurements, the GGM filter yields similar accuracy and better consistency than the EKF.
    Translated title of the contributionUWB Positioning with Generalized Gaussian Mixture Filters
    Original languageEnglish
    Pages (from-to)2406-2414
    Number of pages9
    JournalIEEE Transactions on Mobile Computing
    Volume13
    Issue number10
    DOIs
    Publication statusPublished - Oct 2014
    Publication typeA1 Journal article-refereed

    Keywords

    • Bayesian filtering
    • Gaussian Mixture
    • indoor positioning
    • UWB

    Publication forum classification

    • Publication forum level 2

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