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Preliminary results on the estimation performance of single range source localization
Pedro Batista1; Carlos Silvestre1,2; Paulo Oliveira1
2013-09-26
Conference Name21st Mediterranean Conference on Control and Automation (MED)
Source Publication2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings
Pages419-424
Conference DateJUN 25-28, 2013
Conference PlacePlatanias
CountryGREECE
Author of SourceMediterranean Control Assoc; IEEE Control Syst Soc; IEEE Robot & Automat Soc; Tech Univ Crete; Univ Denver; IEEE
Publication Place345 E 47TH ST, NEW YORK, NY 10017 USA
PublisherIEEE
Abstract

In previous work by the authors a novel estimator was introduced, with asymptotic stability guarantees, for the problems of source localization and navigation based on single range measurements. The aim of this paper is to further study these problems in terms of the performance of the proposed estimators and the trajectories that yield best results. To that purpose, the achievable performance with the proposed estimator is compared with the Bayesian Cramér-Rao Bound (BCRB) for different trajectories of the agent and, in addition, the estimates provided by the Extended Kalman Filter are also computed. It is revealed that the performance of the estimator is close to the BCRB theoretical lower bound and some insight is provided on the effect of the agent trajectory on the estimation performance.

DOI10.1109/MED.2013.6608756
URLView the original
Indexed ByCPCI-S
Language英語English
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000333245100067
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Cited Times [WOS]:0   [WOS Record]     [Related Records in WOS]
Document TypeConference paper
CollectionUniversity of Macau
Affiliation1.Institute for Systems and Robotics, Instituto Superior Tecnico, Universidade T ´ ecnica de Lisboa, Av. Rovisco Pais, 1049- ´ 001 Lisboa, Portugal
2.Department of Electrical and Computer Engineering, Faculty of Science and Technology of the University of Macau.
Recommended Citation
GB/T 7714
Pedro Batista,Carlos Silvestre,Paulo Oliveira. Preliminary results on the estimation performance of single range source localization[C]//Mediterranean Control Assoc; IEEE Control Syst Soc; IEEE Robot & Automat Soc; Tech Univ Crete; Univ Denver; IEEE. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2013:419-424.
APA Pedro Batista,Carlos Silvestre,&Paulo Oliveira.(2013).Preliminary results on the estimation performance of single range source localization.2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings,419-424.
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