An Adaptive Algorithm for Joint Cooperative Localization and Orientation Estimation using Belief Propagation

Lukas Wielandner; Erik Leitinger; Klaus Witrisal

doi:10.1109/IEEECONF53345.2021.9723249

An Adaptive Algorithm for Joint Cooperative Localization and Orientation Estimation using Belief Propagation

Lukas Wielandner, Erik Leitinger, Klaus Witrisal

Institute of Signal Processing and Speech Communication (4420)

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › peer-review

Abstract

In cooperative localization applications, measurement-model related model parameters are often assumed to be known even though they can depend strongly on the environment. This assumption can lead to a reduced localization accuracy due to parameter mismatch. In this paper, we propose an adaptive factor-graph-based algorithm for joint cooperative localization and orientation estimation which inherently estimates all unknown model parameters as well as the measurement uncertainty. We use RSS radio measurements and account for the directivity of the antennas with a parametric antenna pattern. We validate our proposed methods with simulations in a static scenario and show that there is only a small loss in positioning accuracy compared to known model parameters and measurement noise.

Original language	English
Title of host publication	55th Asilomar Conference on Signals, Systems and Computers, ACSSC 2021
Editors	Michael B. Matthews
Pages	1591-1596
Number of pages	6
ISBN (Electronic)	978-1-6654-5828-3
DOIs	https://doi.org/10.1109/IEEECONF53345.2021.9723249
Publication status	Published - 2021
Event	55th Asilomar Conference on Signals, Systems, and Computers - Pacific Grove, United States Duration: 31 Oct 2021 → 3 Nov 2021

Publication series

Name	Conference Record - Asilomar Conference on Signals, Systems and Computers
Volume	2021-October
ISSN (Print)	1058-6393

Conference

Conference	55th Asilomar Conference on Signals, Systems, and Computers
Country/Territory	United States
City	Pacific Grove
Period	31/10/21 → 3/11/21

ASJC Scopus subject areas

Signal Processing
Computer Networks and Communications

Access to Document

10.1109/IEEECONF53345.2021.9723249

Cite this

Wielandner, L., Leitinger, E., & Witrisal, K. (2021). An Adaptive Algorithm for Joint Cooperative Localization and Orientation Estimation using Belief Propagation. In M. B. Matthews (Ed.), 55th Asilomar Conference on Signals, Systems and Computers, ACSSC 2021 (pp. 1591-1596). (Conference Record - Asilomar Conference on Signals, Systems and Computers; Vol. 2021-October). https://doi.org/10.1109/IEEECONF53345.2021.9723249

An Adaptive Algorithm for Joint Cooperative Localization and Orientation Estimation using Belief Propagation. / Wielandner, Lukas ; Leitinger, Erik ; Witrisal, Klaus.
55th Asilomar Conference on Signals, Systems and Computers, ACSSC 2021. ed. / Michael B. Matthews. 2021. p. 1591-1596 (Conference Record - Asilomar Conference on Signals, Systems and Computers; Vol. 2021-October).

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › peer-review

Wielandner, L , Leitinger, E & Witrisal, K 2021, An Adaptive Algorithm for Joint Cooperative Localization and Orientation Estimation using Belief Propagation. in MB Matthews (ed.), 55th Asilomar Conference on Signals, Systems and Computers, ACSSC 2021. Conference Record - Asilomar Conference on Signals, Systems and Computers, vol. 2021-October, pp. 1591-1596, 55th Asilomar Conference on Signals, Systems, and Computers, Pacific Grove, California, United States, 31/10/21. https://doi.org/10.1109/IEEECONF53345.2021.9723249

Wielandner L , Leitinger E , Witrisal K. An Adaptive Algorithm for Joint Cooperative Localization and Orientation Estimation using Belief Propagation. In Matthews MB, editor, 55th Asilomar Conference on Signals, Systems and Computers, ACSSC 2021. 2021. p. 1591-1596. (Conference Record - Asilomar Conference on Signals, Systems and Computers). doi: 10.1109/IEEECONF53345.2021.9723249

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An Adaptive Algorithm for Joint Cooperative Localization and Orientation Estimation using Belief Propagation

Abstract

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ASJC Scopus subject areas

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CD-Laboratory for Location-aware Electronic Systems

Cite this

An Adaptive Algorithm for Joint Cooperative Localization and Orientation Estimation using Belief Propagation

Abstract

Publication series

Conference

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Projects

CD-Laboratory for Location-aware Electronic Systems

Cite this