Cooperative localization using angle of arrival measurements in non-line-of-sight environments

ABSTRACT

We investigate localization of a transmitting node using angle of arrival (AoA) measurements made at a geographically dispersed network of cooperating receivers with known locations. A low-complexity sequential algorithm for updating the source location estimates under line-of-sight (LOS) environments is developed. This serves as a building block for an algorithm that suppresses outliers arising due to multipath scattering and reflection in non-line-of-sight (NLOS) scenarios. Maximal likelihood (ML) location estimation requires exhaustive testing of estimates from all possible subsets of measurements. We avoid this by utilizing a randomized algorithm that approaches the ML performance at a complexity that is only quadratic in the number of measurements. The localization error is proportional in the AoA error variance and coverage area, and can be reduced by an increase in the number of estimates with a strong LOS component.

REFERENCES

• 1: Aeroscout inc.
• 2: Savi technology inc.
• 3: A. Amar and A. Weiss. Direct position determination of multiple radio signals. In Proc. of ICASSP"04, volume 2, pages 17--21, May 2004.
• 4: B. Ananthasubramaniam and U. Madhow. Collector receiver design for data collection and localization in sensor-driven networks. In Proc. CISS"07, March 2007.
• 5: Pierpaolo Bergamo , Shadnaz Asgari , Hanbiao Wang , Daniela Maniezzo , Len Yip , Ralph E. Hudson , Kung Yao , Deborah Estrin, Collaborative Sensor Networking Towards Real-Time Acoustical Beamforming in Free-Space and Limited Reverberance, IEEE Transactions on Mobile Computing, v.3 n.3, p.211-224, July 2004 [doi>10.1109/TMC.2004.17]
• 6: D. Blatt and A. Hero III. Energy-based sensor network source localization via projection onto convex sets. IEEE Trans. on Signal Processing, 54(9):3614--3619, 2006.
• 7: J. Borras, P. Hatrack, and N. Mandayam. A decision theoretic framework for nlos identification. In Proceedings of IEEE VTC"S98, volume 2, pages 1583--1587, May 1998.
• 8: R. Casas , A. Marco , J. J. Guerrero , J. Falcó, Robust estimator for non-line-of-sight error mitigation in indoor localization, EURASIP Journal on Applied Signal Processing, v.2006 n.1, p.156-156, 01 January [doi>10.1155/ASP/2006/43429]
• 9: J. G. Castaño, M. Svensson, and M. Ekström. Local positioning for wireless sensors based on bluetoothTM. In IEEE, editor, Radio and Wireless Conferrence, pages 195--198, September 2004.
• 10: Y. Chan and K. Ho. A simple and efficient estimator for hyperbolic location. IEEE Trans. on Signal Processing, 42(8):1905--15, Aug 1994.
• 11: P. C. Chen. A non-line-of-sight error mitigation algorithm in location estimation. In IEEE WCNC"99, pages 316--320, Sept. 1999.
• 12: L. Cong and W. Zhuang. Non-line-of-sight error mitigation in tdoa mobile location. In IEEE Global Telecommunications Conference, volume 1, pages 680--684, Nov. 2001.
• 13: R. A. Maronna, D. R. Martin, and V. J. Yohai. Robust Statistics: Theory and Methods. Wiley, 2006.
• 14: H. Vincent Poor, An introduction to signal detection and estimation (2nd ed.), Springer-Verlag New York, Inc., New York, NY, 1994
• 15: M. Rabbat, R. Nowak, and J. Bucklew. Robust decentralized source localization via averaging. In Proc. ICASSP"05, volume 5, Mar 2005.
• 16: R. Raich, J. Goldberg, and H. Messer. Bearing estimation for a distributed source: Modeling, inherent accuracy limitations, and algorithms. IEEE Trans. Signal Processing, 48:429--441, Feb. 2000.
• 17: B. Rao and K. Hari. Performance analysis of root-music. IEEE Trans. on Signal Processing, 37(12):1939--1949, Dec 1989.
• 18: Theodore Rappaport, Wireless Communications: Principles and Practice, Prentice Hall PTR, Upper Saddle River, NJ, 2001
• 19: L. Scharf. Statistical Signal Processing. Addison-Wesley, 1990.
• 20: Vinay Seshadri , Gergely V. Zaruba , Manfred Huber, A Bayesian Sampling Approach to In-Door Localization of Wireless Devices Using Received Signal Strength Indication, Proceedings of the Third IEEE International Conference on Pervasive Computing and Communications, p.75-84, March 08-12, 2005 [doi>10.1109/PERCOM.2005.1]
• 21: M. Skolnik. Introduction to Radar Systems. McGraw-Hill, 3rd edition, 2000.
• 22: Tõnu Trump , Björn Ottersten, Estimation of nominal direction of arrival and angular spread using an array of sensors, Signal Processing, v.50 n.1-2, p.57-69, April 1996 [doi>10.1016/0165-1684(96)00003-5]
• 23: S. Venkatraman and J. Caffery, Jr. Statistical approach to nonline-of-sight bs identification. In WPMC"02, volume 1, pages 296--300, Oct 2002.

INDEX TERMS

Primary Classification:
  C. Computer Systems Organization
  C.3 SPECIAL-PURPOSE AND APPLICATION-BASED SYSTEMS
      Subjects: Signal processing systems

Additional Classification:
  C. Computer Systems Organization
  C.2 COMPUTER-COMMUNICATION NETWORKS
      C.2.1 Network Architecture and Design
          Subjects: Wireless communication; Distributed networks

General Terms:
Algorithms, Measurement, Performance

Keywords:
angle of arrival measurements, cooperative localization, non-line-of-sight suppression, robust estimation