Sensor bias jump detection and estimation with range only measurements

A target can be positioned by wireless communication sensors. In practical system, the range based sensors may have biased measurements. The biases are mostly constant value, but they may jump abruptly in some special scenarios. An on-line bias change detection and estimation algorithm is presented in this paper. This algorithm can detect the jump bias based on Chi-Square Test, and then estimate the jump bias through Modified Augmented Extended Kalman filter. The feasibility and effectiveness of the proposed algorithms are illustrated in comparison with the Augmented Extended Kalman filter by simulations.