Gaussian mixture filter allowing negative weights and its application to positioning using signal strength measurements

Philipp Müller, S. Ali-Löytty, M. Dashti, Henri Nurminen, R. Piché
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引用次数: 14

Abstract

This paper proposes a novel Gaussian Mixture Filter (GMF) that allows components with negative weights. In the case of a ring-shaped likelihood function, the new filter keeps the number of components low by approximating the likelihood as a Gaussian mixture (GM) of two components, one with positive and the other with negative weight. In this article, the filter is applied to positioning with received signal strength (RSS) based range measurements. The filter is tested using simulated measurements, and the tests indicate that the new GMF outperforms the Extended Kalman Filter (EKF) in both accuracy and consistency.
高斯混合滤波器允许负权重及其应用定位使用信号强度测量
提出了一种允许分量为负权重的高斯混合滤波器(GMF)。在环状似然函数的情况下,新的滤波器通过将似然近似为两个分量的高斯混合(GM),一个具有正权重,另一个具有负权重,从而保持低分量的数量。在本文中,该滤波器应用于基于接收信号强度(RSS)的测距定位。仿真结果表明,该滤波器在精度和一致性方面都优于扩展卡尔曼滤波器。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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