TY - GEN
T1 - Tracking position and orientation of a mobile rigid body
AU - Chepuri, Sundeep Prabhakar
AU - Simonetto, Andrea
AU - Leus, Geert
AU - Van Der Veen, Alle Jan
PY - 2013/12/1
Y1 - 2013/12/1
N2 - A framework to track the position and orientation of a moving rigid body is proposed. We consider a setup in which a few wireless sensors are mounted on a rigid body. The topology of how these sensors are mounted on the rigid body is known; however, the absolute position of the sensors or the rigid body itself is unknown. Using range-only measurements between the sensors and a few anchors (nodes with known absolute positions), and a simple kinematic model, we propose an unconstrained, unitarily-constrained, and event-triggered estimator based on Kalman filtering techniques.
AB - A framework to track the position and orientation of a moving rigid body is proposed. We consider a setup in which a few wireless sensors are mounted on a rigid body. The topology of how these sensors are mounted on the rigid body is known; however, the absolute position of the sensors or the rigid body itself is unknown. Using range-only measurements between the sensors and a few anchors (nodes with known absolute positions), and a simple kinematic model, we propose an unconstrained, unitarily-constrained, and event-triggered estimator based on Kalman filtering techniques.
U2 - 10.1109/CAMSAP.2013.6714001
DO - 10.1109/CAMSAP.2013.6714001
M3 - Conference contribution
AN - SCOPUS:84894221682
SN - 9781467331463
T3 - 2013 5th IEEE International Workshop on Computational Advances in Multi-Sensor Adaptive Processing, CAMSAP 2013
SP - 37
EP - 40
BT - 2013 5th IEEE International Workshop on Computational Advances in Multi-Sensor Adaptive Processing, CAMSAP 2013
T2 - 2013 5th IEEE International Workshop on Computational Advances in Multi-Sensor Adaptive Processing, CAMSAP 2013
Y2 - 15 December 2013 through 18 December 2013
ER -