Please use this identifier to cite or link to this item: http://hdl.handle.net/2440/77396
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Type: Conference paper
Title: Rapid mesh network setup for indoor RF tracking
Author: Hedley, Mark
Sathyan, Thuraiappah
Citation: PLANS 2012: IEEE/ION Position Location and Navigation Symposium, held in Myrtle Beach, South Carolina, 23-26 April, 2012: pp.92-97
Publisher: IEEE
Issue Date: 2012
ISBN: 9781467303859
ISSN: 2153-358X
Conference Name: IEEE/ION Position Location and Navigation Symposium (2012 : Myrtle Beach, South Carolina)
PLANS 2012
School/Discipline: School of Computer Science
Statement of
Responsibility: 
Mark Hedley and Thuraiappah Sathyan
Abstract: In this paper we present a practical system for indoor tracking that is low-cost, quick and simple to setup, and accurate. The system consists of three types of nodes, GPS referenced anchor nodes, static nodes placed at fixed locations within a building, and mobile tags that are attached to objects to be tracked. The network of anchor and static nodes must be setup to be globally rigid which allows a unique determination of the location of the static nodes using cooperative localization. The static and anchor nodes are then used as the reference for tracking the mobile tags. We describe a technique to identify static nodes that cannot be uniquely solved so that they can be augmented or removed, and then present a fast and distributed algorithm for determining the locations of the rigid static nodes. We also present an algorithm based on particle filters for tracking the tags that utilizes the knowledge of the range error distribution. Finally we present results obtained using our WASP (Wireless Ad-hoc System for Positioning) platform in an indoor office environment.
Keywords: Cooperative localization; mesh network; particle filter; RF tracking; rigid graph
Rights: © 2012 Crown
RMID: 0020121748
DOI: 10.1109/PLANS.2012.6236869
Appears in Collections:Computer Science publications

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