Impact of Motion and Channel Parameters on the Estimation of Transmitter Position in Robotic Networks

Free registration required

Executive Summary

In this paper, the authors study the impact of the motion of a mobile robot as well as the underlying parameters of the channel on the estimation of the transmitter position in a networked robotic operation. They consider the case that the robot gathers a number of Received Signal Strength (RSS) measurements from a fixed transmitter along its trajectory and use them to estimate the position of the transmitter. They first mathematically characterize two metrics for the estimation performance of the transmitter position: the Cramer-Rao Lower Bound (CRLB) and the error covariance matrix of a Least Square (LS) estimator.

  • Format: PDF
  • Size: 134.12 KB