Dynamic Adjustment of Measurement Noise Covariance Matrix in an Infrared-based Positioning and Tracking System

2022 IEEE 12th International Conference on Indoor Positioning and Indoor Navigation (IPIN), 5-8 September, 2022, Beijing, China.

Detalles Bibliográficos
Autores: Aparicio Esteve, Elena|||0000-0001-7886-312X, Moltó Orozco, David|||0000-0002-2790-3758, Ureña Ureña, Jesús|||0000-0003-1408-6039, Hernández Alonso, Álvaro|||0000-0001-9308-8133, Espinosa Zapata, Felipe|||0000-0003-1588-0947
Tipo de recurso: libro
Fecha de publicación:2022
País:España
Institución:Universidad de Alcalá (UAH)
Repositorio:e_Buah Biblioteca Digital Universidad de Alcalá
Idioma:inglés
OAI Identifier:oai:ebuah.uah.es:10017/57897
Acceso en línea:http://hdl.handle.net/10017/57897
https://dx.doi.org/10.1109/IPIN54987.2022.9917511
Access Level:acceso abierto
Palabra clave:Local Positioning System
Infrared
EKF
Electrónica
Electronics
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spelling Dynamic Adjustment of Measurement Noise Covariance Matrix in an Infrared-based Positioning and Tracking SystemAparicio Esteve, Elena|||0000-0001-7886-312XMoltó Orozco, David|||0000-0002-2790-3758Ureña Ureña, Jesús|||0000-0003-1408-6039Hernández Alonso, Álvaro|||0000-0001-9308-8133Espinosa Zapata, Felipe|||0000-0003-1588-0947Local Positioning SystemInfraredEKFElectrónicaElectronics2022 IEEE 12th International Conference on Indoor Positioning and Indoor Navigation (IPIN), 5-8 September, 2022, Beijing, China.The accuracy of optical positioning systems can be compromised by multiple factors (reflections, calibration, etc.). As an alternative to the triangulation, multilateration, or fingerprinting techniques typically used in these systems, stochastic estimation techniques can be used, such as Kalman Filters (KF) in its different variants. They estimate the receiver position based on the acquired measurements and the estimated positions in previous iterations. This work presents the evaluation of a 3D optical positioning system, based on four LED beacons and a quadrant receiver, using an Extended Kalman Filter (EKF). The implementation of a measurement noise covariance matrix that is adjusted depending on the angle and distance between transmitters and receiver, obtained in the previous iteration, is analysed. The receiver position estimation using both a dynamic and a static measurement noise covariance matrix is evaluated and compared with simulations and experimental tests. In simulations, the achieved errors are below 6 cm and 12 cm in 75% of the cases when using a dynamic and a static noise matrix, respectively. In the experimental tests, the obtained errors in 75% of the cases for the position in plane XY and the rotation angle ? are smaller than 7.44 cm and 1.06 ? with a dynamic noise matrix; and below 7.59 cm and 1.62 ? for a static one.Agencia Estatal de InvestigaciónUniversidad de AlcaláIEEE20222022-10-26bookhttp://purl.org/coar/resource_type/c_2f33NAhttp://purl.org/coar/version/c_be7fb7dd8ff6fe43info:eu-repo/semantics/bookapplication/pdfhttp://hdl.handle.net/10017/57897https://dx.doi.org/10.1109/IPIN54987.2022.9917511reponame:e_Buah Biblioteca Digital Universidad de Alcaláinstname:Universidad de Alcalá (UAH)InglésengAgencia Estatal de Investigación http://dx.doi.org/10.13039/501100011033 Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020 RTI2018-095168-B-C51 SISTEMAS DE POSICIONAMIENTO LOCAL: ENFOQUE HOLISTICO DESDE LAS TECNOLOGIAS BASE HASTA LAS APLICACIONESAgencia Estatal de Investigación http://dx.doi.org/10.13039/501100011033 Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020 PID2019-105470RA-C33 MEJORANDO Y FOMENTANDO LA VIDA ACTIVA Y BIENESTAR DE LAS PERSONAS CON DEMENCIA Y DETERIORO COGNITIVO LEVE MEDIANTE EL USO DE TECNICAS DE LOCALIZACIONUAH Not available CM-JIN-2021-027UAH Not available CM-JIN-2021-016open accesshttp://purl.org/coar/access_right/c_abf2Attribution-NonCommercial-NoDerivatives 4.0 Internationalhttp://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/openAccessoai:ebuah.uah.es:10017/578972026-06-18T11:13:07Z
dc.title.none.fl_str_mv Dynamic Adjustment of Measurement Noise Covariance Matrix in an Infrared-based Positioning and Tracking System
title Dynamic Adjustment of Measurement Noise Covariance Matrix in an Infrared-based Positioning and Tracking System
spellingShingle Dynamic Adjustment of Measurement Noise Covariance Matrix in an Infrared-based Positioning and Tracking System
Aparicio Esteve, Elena|||0000-0001-7886-312X
Local Positioning System
Infrared
EKF
Electrónica
Electronics
title_short Dynamic Adjustment of Measurement Noise Covariance Matrix in an Infrared-based Positioning and Tracking System
title_full Dynamic Adjustment of Measurement Noise Covariance Matrix in an Infrared-based Positioning and Tracking System
title_fullStr Dynamic Adjustment of Measurement Noise Covariance Matrix in an Infrared-based Positioning and Tracking System
title_full_unstemmed Dynamic Adjustment of Measurement Noise Covariance Matrix in an Infrared-based Positioning and Tracking System
title_sort Dynamic Adjustment of Measurement Noise Covariance Matrix in an Infrared-based Positioning and Tracking System
dc.creator.none.fl_str_mv Aparicio Esteve, Elena|||0000-0001-7886-312X
Moltó Orozco, David|||0000-0002-2790-3758
Ureña Ureña, Jesús|||0000-0003-1408-6039
Hernández Alonso, Álvaro|||0000-0001-9308-8133
Espinosa Zapata, Felipe|||0000-0003-1588-0947
author Aparicio Esteve, Elena|||0000-0001-7886-312X
author_facet Aparicio Esteve, Elena|||0000-0001-7886-312X
Moltó Orozco, David|||0000-0002-2790-3758
Ureña Ureña, Jesús|||0000-0003-1408-6039
Hernández Alonso, Álvaro|||0000-0001-9308-8133
Espinosa Zapata, Felipe|||0000-0003-1588-0947
author_role author
author2 Moltó Orozco, David|||0000-0002-2790-3758
Ureña Ureña, Jesús|||0000-0003-1408-6039
Hernández Alonso, Álvaro|||0000-0001-9308-8133
Espinosa Zapata, Felipe|||0000-0003-1588-0947
author2_role author
author
author
author
dc.subject.none.fl_str_mv Local Positioning System
Infrared
EKF
Electrónica
Electronics
topic Local Positioning System
Infrared
EKF
Electrónica
Electronics
description 2022 IEEE 12th International Conference on Indoor Positioning and Indoor Navigation (IPIN), 5-8 September, 2022, Beijing, China.
publishDate 2022
dc.date.none.fl_str_mv 2022
2022-10-26
dc.type.none.fl_str_mv book
http://purl.org/coar/resource_type/c_2f33
NA
http://purl.org/coar/version/c_be7fb7dd8ff6fe43
dc.type.openaire.fl_str_mv info:eu-repo/semantics/book
format book
dc.identifier.none.fl_str_mv http://hdl.handle.net/10017/57897
https://dx.doi.org/10.1109/IPIN54987.2022.9917511
url http://hdl.handle.net/10017/57897
https://dx.doi.org/10.1109/IPIN54987.2022.9917511
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.relation.none.fl_str_mv Agencia Estatal de Investigación http://dx.doi.org/10.13039/501100011033 Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020 RTI2018-095168-B-C51 SISTEMAS DE POSICIONAMIENTO LOCAL: ENFOQUE HOLISTICO DESDE LAS TECNOLOGIAS BASE HASTA LAS APLICACIONES
Agencia Estatal de Investigación http://dx.doi.org/10.13039/501100011033 Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020 PID2019-105470RA-C33 MEJORANDO Y FOMENTANDO LA VIDA ACTIVA Y BIENESTAR DE LAS PERSONAS CON DEMENCIA Y DETERIORO COGNITIVO LEVE MEDIANTE EL USO DE TECNICAS DE LOCALIZACION
UAH Not available CM-JIN-2021-027
UAH Not available CM-JIN-2021-016
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv IEEE
publisher.none.fl_str_mv IEEE
dc.source.none.fl_str_mv reponame:e_Buah Biblioteca Digital Universidad de Alcalá
instname:Universidad de Alcalá (UAH)
instname_str Universidad de Alcalá (UAH)
reponame_str e_Buah Biblioteca Digital Universidad de Alcalá
collection e_Buah Biblioteca Digital Universidad de Alcalá
repository.name.fl_str_mv
repository.mail.fl_str_mv
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