Target tracking without line of sight using range from radio
- 304 Downloads
We propose a framework for utilizing fixed ultra-wideband ranging radio nodes to track a moving target radio node in an environment without guaranteed line of sight or accurate odometry. For the case where the fixed nodes’ locations are known, we derive a Bayesian room-level tracking method that takes advantage of the structural characteristics of the environment to ensure robustness to noise. For the case of unknown fixed node locations, we present a two-step approach that first reconstructs the target node’s path using Gaussian Process Latent Variable models (GPLVMs) and then uses that path to determine the locations of the fixed nodes. We present experiments verifying our algorithm in an office environment, and we compare our results to those generated by online and batch SLAM methods, as well as odometry mapping. Our algorithm is successful at tracking a moving target node without odometry and mapping the locations of fixed nodes using radio ranging data that are both noisy and intermittent.
KeywordsRange sensing Sensor networks Target tracking
Unable to display preview. Download preview PDF.
MP4 7.07 MB
- Djugash, J., Singh, S., Kantor, G., & Zhang, W. (2006). Range-only SLAM for robots operating cooperatively with sensor networks. In Proc. IEEE int. conf. robotics and automation. Google Scholar
- Djugash, J., Singh, S., & Grocholsky, B. (2008). Decentralized mapping of robot-aided sensor networks. In Proc. IEEE int. conf. robotics and automation. Google Scholar
- Ferris, B., Hahnel, D., & Fox, D. (2006). Gaussian processes for signal strength-based location estimation. In Proc. robotics: science and systems conf. Google Scholar
- Ferris, B., Fox, D., & Lawrence, N. D. (2007). WiFi-SLAM using Gaussian process latent variable models. In Proc. int. joint conf. artificial intelligence. Google Scholar
- Grisetti, G., Kuemmerle, R., Stachniss, C., Frese, U., & Hertzberg, C. (2010). Hierarchical optimization on manifolds for online 2D and 3D mapping. In Proc. IEEE int. conf. robotics and automation. Google Scholar
- Hollinger, G., Djugash, J., & Singh, S. (2008). Tracking a moving target in cluttered environments with ranging radios. In Proc. IEEE int. conf. robotics and automation. Google Scholar
- Hu, L., & Evans, D. (2004). Localization for mobile sensor networks. In Proc. int. conf. mobile computing and networking. Google Scholar
- Kehagias, A., Djugash, J., & Singh, S. (2006). Range-only SLAM with interpolated range data. Technical Report CMU-RI-TR-06-26, Robotics Institute, Carnegie Mellon Univ. Google Scholar
- Kuhn, M., Zhang, C., Mahfouz, M., & Fathy, A. E. (2009). Real-time UWB indoor positioning system with millimeter 3-D dynamic accuracy. In IEEE antennas and propagation society int. symp. Google Scholar
- Liao, E., Hollinger, G., Djugash, J., & Singh, S. (2006). Preliminary results in tracking mobile targets using range sensors from multiple robots. In Proc. int. symp. distributed autonomous robotic systems. Google Scholar
- Multispectral Solutions, Inc. (2008). Company website. http://www.multispectral.com/.
- Priyantha, N. B., Balakrishnan, H., Demaine, E., & Teller, S. (2005). Mobile-assisted localization in wireless sensor networks. In Proc. IEEE INFOCOM. Google Scholar
- Schroeder, J., Galler, S., & Kyamakya, K. (2005). A low-cost experimental ultra-wideband positioning system. In IEEE int. conf. ultra-wideband. Google Scholar
- Schwaighofer, A., Grigoras, M., Tresp, V., & Hoffmann, C. (2003). GPPS: a Gaussian process positioning system for cellular networks. In Proc. 17th conf. on neural information processing systems. Google Scholar
- Snelson, E. (2007). Flexible and efficient Gaussian process models for machine learning. Ph.D. Thesis, Gatsby Computational Neuroscience Unit, University College London, University of London. Google Scholar
- Tsai, Y.-L., Tu, T.-T., Bae, H., & Chou, P. H. (2010). EcoIMU: a dual triaxial-accelerometer inertial measurement unit for wearable applications. In Int. conf. body sensor networks. Google Scholar