Adaptive Position Estimation for Vehicles using Range Measurements

• Type: Article in International Conference Proceedings Book
• Date: 2017

Authors

Sai Krishna Kanth Hari (Author) Other; Kaarthik Sundar (Author) Other; J. Braga (Author) Other; J. Teixeira (Author) FEUP; Swaroop Darbha (Author) Other; João Tasso Sousa (Author) FEUP

Conference proceedings International

Title: IFAC PAPERSONLINE

Pages: 1145-1150

20th World Congress of the International-Federation-of-Automatic-Control (IFAC)

Toulouse, FRANCE, JUL 09-14, 2017

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Other information

Authenticus ID: P-00N-4ZF

DOI: 10.1016/j.ifacol.2017.08.398

Abstract (EN): Position estimation is one of the important tasks to achieve vehicle autonomy. This article addresses the problem of estimating the position of the center of mass of a vehicle from range measurements that are available to the vehicle via communication of its on-board receiver to multiple beacons. The model proposed in this article assumes that the true distance between a beacon and the on-board receiver in the vehicle is at most equal to a predetermined function of the measured distance. This predetermined function is computed offline while calibrating the beacons, and an algorithm to update this function adaptively with online measurements is also presented. These range measurements are further utilized to estimate the position of on-board receiver, and hence the vehicle, by solving a convex optimization problem. The position is essentially an analytical center of the set of all possible locations of the receiver. Several simulations and experiments also corroborate the effectiveness of the proposed approach.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6