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Simultaneous Localization and Tracking in Wireless Ad-hoc Sensor Networks

Author(s)
Taylor, Christopher J.
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Abstract
In this thesis we present LaSLAT, a sensor network algorithm thatsimultaneously localizes sensors, calibrates sensing hardware, andtracks unconstrained moving targets using only range measurementsbetween the sensors and the target. LaSLAT is based on a Bayesian filter, which updates a probabilitydistribution over the quantities of interest as measurementsarrive. The algorithm is distributable, and requires only a constantamount of space with respect to the number of measurementsincorporated. LaSLAT is easy to adapt to new types of hardware and newphysical environments due to its use of intuitive probabilitydistributions: one adaptation demonstrated in this thesis uses amixture measurement model to detect and compensate for bad acousticrange measurements due to echoes.We also present results from a centralized Java implementation ofLaSLAT on both two- and three-dimensional sensor networks in whichranges are obtained using the Cricket ranging system. LaSLAT is ableto localize sensors to within several centimeters of their groundtruth positions while recovering a range measurement bias for eachsensor and the complete trajectory of the mobile.
Date issued
2005-05-31
URI
http://hdl.handle.net/1721.1/30549
Other identifiers
MIT-CSAIL-TR-2005-037
AITR-2005-003
Series/Report no.
Massachusetts Institute of Technology Computer Science and Artificial Intelligence Laboratory
Keywords
AI, Localization, Target Tracking, Sensor Network, Calibration

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