Indoor Target Tracking using Time Difference of Arrival Measurements in 3D

Yifan Xie, Seung Hyo Park, Taek Lyul Song

2018

Abstract

Target tracking with time difference of arrival measurements usually encounters the problem of correlated measurement noises. When the sensor network utilizes the common reference sensor, the covariance matrix of the correlated measurement noises becomes off-diagonal such that the computational complexity of the inverse of the covariance matrix as well as the subsequent matrix operations increases proportionally to the cube of the sensor number. This makes target tracking algorithms inconvenient for practical applications, and an appropriate measurement noise decorrelation method is required. In multi-sensor environments, the parallel update and the serial update are applied for exploiting the measurements from different sensors. Although the two methods deliver the equivalent tracking performances in linear systems, this equivalence does not hold in nonlinear systems as linearizing the nonlinear functions leads to approximation error. Additionally, the requirements of the two methods for storage structure and computational resource allocations are different. This paper presents a target tracking algorithm which integrates the Cholesky decomposition to decorrelate the measurement noises for the serial update which shows computational efficiency. The tracking performance is evaluated by estimation accuracy, execution time.

Paper Citation

in Harvard Style

Xie Y., Park S. and Song T. (2018). Indoor Target Tracking using Time Difference of Arrival Measurements in 3D.In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-321-6, pages 380-387. DOI: 10.5220/0006882903800387

in Bibtex Style

@conference{icinco18,
author={Yifan Xie and Seung Hyo Park and Taek Lyul Song},
title={Indoor Target Tracking using Time Difference of Arrival Measurements in 3D},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2018},
pages={380-387},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006882903800387},
isbn={978-989-758-321-6},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Indoor Target Tracking using Time Difference of Arrival Measurements in 3D
SN - 978-989-758-321-6
AU - Xie Y.
AU - Park S.
AU - Song T.
PY - 2018
SP - 380
EP - 387
DO - 10.5220/0006882903800387