Localization of the mobile agent using indirect Kalman filter in distributed sensor networks

Authors:
Ji-Wook Kwon;Mun-Soo Park;Dongkyoung Chwa
Affiliations:
Ajou University San, Wonchun-Dong, Yeongtong-Gu, Suwon, Korea;Ajou University San, Wonchun-Dong, Yeongtong-Gu, Suwon, Korea;Ajou University San, Wonchun-Dong, Yeongtong-Gu, Suwon, Korea
Venue:
Proceedings of the 3rd International Conference on Ubiquitous Information Management and Communication
Year:
2009

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Abstract

This paper proposes a localization algorithm for mobile agents in sensor networks using the data fusion method based on indirect Kalman filter. The fusion method of an inertial navigation sensor and sensor nodes data is used to acquire the correct position information. Since indirect Kalman filter is used for estimation of the mobile agent position, the position of the mobile agent can be estimated even when the sensor node cannot work or data acquired from the network are not reliable. Because measurement errors are used for estimation, its implementation is easy. Finally, a sequence of simulations is carried out to confirm the performance of the proposed localization algorithm.