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A distributed extended information filter for Self-Localization in Sensor Networks

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3 Author(s)
Gasparri, A. ; Dipt. di Inf. ed Autom., Univ. degli Studi Roma Tre, Rome ; Pascucci, F. ; Ulivi, G.

In this paper the self-localization problem for sensor networks is addressed. Given a set of nodes deployed in an environment, self-localization consists of finding out the location of all nodes in regard to any topology or metric of interest. Nodes are assumed to be equipped with a sensor board able to provide these inter-node distances. In addition, a few nodes are assumed to be equipped with some absolute position devices. According to this scenario, a new distributed algorithm based on an extended information filter is proposed. This algorithm provides an accurate estimation of node positions with a reasonable computational complexity, even when in presence of noisy measurements. Real experiments, carried out by exploiting Micaz Motes platforms, have been performed to show the effectiveness of the proposed technique.

Published in:

Personal, Indoor and Mobile Radio Communications, 2008. PIMRC 2008. IEEE 19th International Symposium on

Date of Conference:

15-18 Sept. 2008