Wireless indoor tracking network based on Kalman filters with an application to monitoring dairy cows

Authors:
Frede Aakmann Tøgersen;Flemming Skjøth;Lene Munksgaard;Søren Højsgaard
Affiliations:
Vestas Wind Systems A/S, Alsvej 21, DK-8940 Randers SV, Denmark and Department of Genetics and Biotechnology, Aarhus University, Blichers Alle, DK-8830, Denmark;AgroTech A/S, Udkærsvej 15, DK-8200 Aarhus N, Denmark;Department of Animal Health and Bioscience, Aarhus University, DK-8830, Denmark;Department of Genetics and Biotechnology, Aarhus University, Blichers Alle, DK-8830, Denmark
Venue:
Computers and Electronics in Agriculture
Year:
2010

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Abstract

We propose an algorithm for estimating positions of devices in a sensor network using Kalman filtering techniques. The specific area of application is monitoring the movements of cows in a barn. The algorithm consists of two filters. The first filter enhances the signal-to-noise ratio of the observed signal strengths and gives interpolated values at specific timestamps. Information from the first filter is transferred to the second filter which estimates the positions. Methods for estimating the parameters of the filters are given and these provide a straightforward calibration of the system.