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Unscented 칼만 필터 기반의 chirp spread spectrum 노드 위치 추정
조현우(Hyeonwoo Cho),반성준(Sung Jun Ban),이영훈(Younghun Lee),전용주(Youngju Joen),김상우(Sang Woo Kim) 대한전기학회 2009 정보 및 제어 심포지엄 논문집 Vol.2009 No.5
Position estimation in indoor is significant problem, because GPS which is usually used for outdoor positioning cannot be utilized to indoor positioning. Sensor network can be a solution for the positioning. Recently, chirp spread spectrum (CSS) specified in IEEE 802.15.4a provides an ability of ranging. Based on the results of the ranging, a position of a C55 node can be calculated by using trilateration. In this case, Kalman filter can be applied to the trilateration because of the measurement noise. In this paper, we apply the unscented Kalman filter for the trilateration. The trilateration can be represented to a nonlinear state space equation, and the unscented Kalman filter is suitable for nonlinear state space equation. Through the experimental results. we show the accuracy of the estimated position.