Cooperative Localization Using Posterior Linearization Belief Propagation

被引：52

作者：

Garcia-Fernandez, Angel F. ^{[1
]}

Svensson, Lennart ^{[2
]}

Sarkka, Simo ^{[1
]}

机构：

[1] Aalto Univ, Dept Elect Engn & Automat, Espoo 02150, Finland

[2] Chalmers Univ Technol, Dept Elect Engn, SE-41296 Gothenburg, Sweden

来源：

IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY | 2018年 / 67卷 / 01期

关键词：

Belief propagation; cooperative localization; Gaussian message passing; posterior linearization; sigma points; NETWORKS;

D O I：

10.1109/TVT.2017.2734683

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper presents the posterior linearization belief propagation (PLBP) algorithm for cooperative localization in wireless sensor networks with nonlinear measurements. PLBP performs two steps iteratively: linearization and belief propagation. At the linearization step, the nonlinear functions are linearized using statistical linear regression with respect to the current beliefs. This SLR is performed in practice by using sigma-points drawn from the beliefs. In the second step, belief propagation is run on the linearized model. We show by numerical simulations how PLBP can outperform other algorithms in the literature.

引用

页码：832 / 836

页数：5

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