Convergence Properties of the Nelder--Mead Simplex Method in Low Dimensions
SIAM Journal on Optimization
Bayesian localization in wireless networks using angle of arrival
Proceedings of the 3rd international conference on Embedded networked sensor systems
Wireless sensor network localization techniques
Computer Networks: The International Journal of Computer and Telecommunications Networking
Application of beamforming in wireless location estimation
EURASIP Journal on Applied Signal Processing
Indoor localization for mobile node based on RSSI
KES'07/WIRN'07 Proceedings of the 11th international conference, KES 2007 and XVII Italian workshop on neural networks conference on Knowledge-based intelligent information and engineering systems: Part III
Indoor location tracking in non-line-of-sight environments using a IEEE 802.15.4a wireless network
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
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We present a new method for localization using received signal strength indicator (RSSI) in ordinary wireless communication networks such as specified by IEEE 802.15.4. The method exploits the anisotropy of the antenna gain to determine the bearing of the robot relative to reference radio nodes. This method is not only more precise than the mapping of the RSSI to distance only, it also allows to estimate the orientation of the robot and to monitor the integrity of the measurement. The integrity measure is also incorporated into the RSSI to distance mapping and a thorough error analysis is presented. The paper describes the localization concept and presents experimental results for mobile robot localization in an outdoor environment. The achieved accuracy is significantly increased compared to previously developed RSSI based localization methods.