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Distributed Kalman Filter algorithms for self-localization of mobile devices

Published: 12 April 2010 Publication History

Abstract

This paper addresses the problem of self localization of mobile devices. In particular, each device combines noisy measurements of its absolute position with distance measurements to its neighbors. The communication topology is modeled by a graph. Both static and dynamic graph structures are investigated. The self-localization task is addressed using distributed Kalman Filters. First a filter is designed which uses only locally available measurements for state estimation. Secondly, a data fusion step is added to the filter. This allows the usage of more measurement information available in the network to improve the accuracy. When the graph is dynamic, a larger communication radius is necessary to ensure reliable performance.

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  • (2024)Research on Kalman Filter Parallel Computing Method Based on OpenMP2024 4th International Conference on Electronic Materials and Information Engineering (EMIE)10.1109/EMIE61984.2024.10616896(125-128)Online publication date: 12-Jun-2024
  • (2023)Improving the Stability of Kalman Filters with Posit ArithmeticNext Generation Arithmetic10.1007/978-3-031-32180-1_9(134-154)Online publication date: 12-May-2023
  • (2019)An elementary introduction to Kalman filteringCommunications of the ACM10.1145/336329462:11(122-133)Online publication date: 24-Oct-2019

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  1. Distributed Kalman Filter algorithms for self-localization of mobile devices

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    cover image ACM Conferences
    HSCC '10: Proceedings of the 13th ACM international conference on Hybrid systems: computation and control
    April 2010
    308 pages
    ISBN:9781605589558
    DOI:10.1145/1755952
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    Published: 12 April 2010

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    • (2024)Research on Kalman Filter Parallel Computing Method Based on OpenMP2024 4th International Conference on Electronic Materials and Information Engineering (EMIE)10.1109/EMIE61984.2024.10616896(125-128)Online publication date: 12-Jun-2024
    • (2023)Improving the Stability of Kalman Filters with Posit ArithmeticNext Generation Arithmetic10.1007/978-3-031-32180-1_9(134-154)Online publication date: 12-May-2023
    • (2019)An elementary introduction to Kalman filteringCommunications of the ACM10.1145/336329462:11(122-133)Online publication date: 24-Oct-2019
    • (2019)Event based distributed kalman filter for limited resource multirobot cooperative localizationAsian Journal of Control10.1002/asjc.214121:4(1531-1546)Online publication date: 8-Oct-2019

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