Posterior Cramér-Rao Bound for Inertial Sensors Enhanced Mobile Positioning Under The Random Walk Motion Model
He, Z, Ma, Y and tafazolli, R (2012) Posterior Cramér-Rao Bound for Inertial Sensors Enhanced Mobile Positioning Under The Random Walk Motion Model IEEE Wireless Communications Letters (99). 1 - 4. ISSN 2162-2337
Posterior Cramér-Rao Bound for Inertial Sensors Enhanced Mobile Positioning Under The Random Walk Motion Model.pdf
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This letter presents a new posterior Cramér-Rao bound (PCRB) for inertial sensors enhanced mobile positioning, which performs hybrid data fusion of parameters including position estimates, pedestrian step size, pedestrian heading, and the knowledge of random walk motion model. Moreover, a non-matrix closed form of the PCRB is derived without position estimates. Finally, our numerical results show that when the accuracy of step size and heading measurements is high enough, the knowledge of random walk model becomes redundant.
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|Divisions:||Faculty of Engineering and Physical Sciences > Electronic Engineering > Centre for Communication Systems Research|
|Depositing User:||Symplectic Elements|
|Date Deposited:||06 Nov 2012 11:51|
|Last Modified:||23 Sep 2013 19:44|
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