Multi-sensor wireless location system with extended kalman filter = 확장형 칼만필터를적용한 멀티센서 무선위치 시스템

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The ability to determine the position of a device is of fundamental importance in context-aware and location dependent mobile computing. Typical indoor applications require better accuracy than what current outdoor location systems provide. Outdoor location technologies such as GPS have poor indoor performance because of the harsh nature of indoor environments. Further, typical indoor applications require different types of location information such as physical space, position and orientation. To obtain high precision, a variety of indoor location systems were proposed. However, existing location systems have some problems to use in nomadic environments. Specially, high precision in realistic pedestrian speed is an important key for nomadic applications. In this thesis, we describe the design and implementation of the multi-sensor wireless location system that provides accurate location in nomadic applications. Also, this thesis describes how proposed location system achieves accurate distance measurements between beacons and listeners with some novel algorithms: a median method and an outlier rejection method. We also describe an extended Kalman filter and define how to model location system based on an extended Kalman filter. Finally, the thesis suggests sensor fusion not only to obtain more accurate positioning but also to overcome NLOS problems with an accelerometer sensor.
Advisors
Kang, Joon-Hyukresearcher강준혁researcher
Description
한국정보통신대학교 : 공학부,
Publisher
한국정보통신대학교
Issue Date
2006
Identifier
392666/225023 / 020044582
Language
eng
Description

학위논문(석사) - 한국정보통신대학교 : 공학부, 2006, [ xi, 59 p. ]

Keywords

Extended Kalman Filter; Locaton System; Multiple Sensor; Cricket System; 크리켓 시스템; 확장형 칼만 필터; 위치시스템; 다중센서

URI
http://hdl.handle.net/10203/55486
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=392666&flag=dissertation
Appears in Collection
School of Engineering-Theses_Master(공학부 석사논문)
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