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dc.contributor.advisorSeth Teller.en_US
dc.contributor.authorPark, Jun-geunen_US
dc.contributor.otherMassachusetts Institute of Technology. Dept. of Aeronautics and Astronautics.en_US
dc.date.accessioned2009-10-01T15:45:54Z
dc.date.available2009-10-01T15:45:54Z
dc.date.copyright2009en_US
dc.date.issued2009en_US
dc.identifier.urihttp://hdl.handle.net/1721.1/47811
dc.descriptionThesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2009.en_US
dc.descriptionIncludes bibliographical references (leaves 93-98).en_US
dc.description.abstractThe moving-baseline localization (MBL) problem arises when a group of nodes moves through an environment in which no external coordinate reference is available. When group members cannot see or hear one another directly, each node must employ local sensing and inter-device communication to infer the spatial relationship and motion of all other nodes with respect to itself. We consider a setting in which nodes move with piecewise-linear velocities in the plane, and any node can exchange noisy range estimates with certain sufficiently nearby nodes. We develop a distributed solution to the MBL problem in the plane, in which each node performs robust hyperbola fitting, trilateration with velocity constraints, and subgraph alignment to arrive at a globally consistent view of the network expressed in its own "rest frame." Changes in any node's motion cause deviations between observed and predicted ranges at nearby nodes, triggering revision of the trajectory estimates computed by all nodes. We implement and analyze our algorithm in a simulation informed by the characteristics of a commercially available ultra-wideband (UWB) radio, and show that recovering node trajectories, rather than just locations, requires substantially less computation at each node. Finally, we quantify the minimum ranging rate and local network density required for the method's successful operation.en_US
dc.description.statementofresponsibilityby Jun-geun Park.en_US
dc.format.extent98 leavesen_US
dc.language.isoengen_US
dc.publisherMassachusetts Institute of Technologyen_US
dc.rightsM.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.en_US
dc.rights.urihttp://dspace.mit.edu/handle/1721.1/7582en_US
dc.subjectAeronautics and Astronautics.en_US
dc.titleMoving-baseline localization for mobile wireless sensor networksen_US
dc.typeThesisen_US
dc.description.degreeS.M.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Dept. of Aeronautics and Astronautics.en_US
dc.identifier.oclc429049269en_US


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