Abstract
A simple particle filter algorithm with adaptive resampling is implemented showing that land-based range-only radio beacons can provide adequate localization within a port facility. Each beacon transmits its identity along with the range, thus solving the data association problem on the hardware level. The operation of the algorithm is assessed using a single set of experimental data with a 1,000 particle implementation. The associated computational load can be handled on-line by a standard PC. In the same environment the GPS absolute localization is likely to fail.
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Kiriy, E., Michalska, H., Michaud, G. (2009). Particle Filter Application to Localization. In: Shahbazian, E., Rogova, G., DeWeert, M.J. (eds) Harbour Protection Through Data Fusion Technologies. NATO Science for Peace and Security Series C: Environmental Security. Springer, Dordrecht. https://doi.org/10.1007/978-1-4020-8883-4_37
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DOI: https://doi.org/10.1007/978-1-4020-8883-4_37
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