Posterior Cramér-Rao Bound for Inertial Sensors Enhanced Mobile Positioning Under The Random Walk Motion Model
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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
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Official URL: http://dx.doi.org/10.1109/WCL.2012.091312.120617
Abstract
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.
| Item Type: | Article |
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| Additional Information: | Copyright 2012 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. |
| Divisions: | Faculty of Engineering and Physical Sciences > Electronic Engineering > Centre for Communication Systems Research |
| ID Code: | 730263 |
| Deposited By: | Symplectic Elements |
| Deposited On: | 06 Nov 2012 11:51 |
| Last Modified: | 16 Feb 2013 14:55 |
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