PARTICLE FILTER APPLICATION TO LOCALIZATION

摘要

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.