Gaussian mixture filter allowing negative weights and its application to positioning using signal strength measurements
Muller, Philipp; Ali-Löytty, Simo; Dashti, Marzieh; Nurminen, Henri; Piche, Robert (2012)
Muller, Philipp
Ali-Löytty, Simo
Dashti, Marzieh
Nurminen, Henri
Piche, Robert
Institute of Electrical and Electronics Engineers IEEE
2012
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi:tty-201311061423
https://urn.fi/URN:NBN:fi:tty-201311061423
Kuvaus
Peer reviewed
Tiivistelmä
This paper proposes a novel Gaussian Mixture Filter (GMF) that allows components with negative weights. In case of a ring-shaped likelihood function, the new filter keeps the number of components low by approximating the likelihood as a Gaussian mixture (GM) of two components, one with positive and the other with negative weight. In this article, the filter is applied to positioning with received signal strength (RSS) based range measurements. The filter is tested using simulated measurements, and the tests indicate that the new GMF outperforms the Extended Kalman Filter (EKF) in both accuracy and consistency.
Kokoelmat
- TUNICRIS-julkaisut [17001]