PROJECT TITLE :
On the Performance of Range Based Bayesian Tracking
In this letter we have a tendency to analyze the performance of location tracking for mobile devices that do not have direct access to World Positioning Systems (GPS). To estimate positions, measurements of the device's distance to reference beacons are combined with measurements of its velocity during a Bayesian framework. We derive an analytical closed form description of the RMS error of the Bayesian position estimates when the tracking is posed as either a filtering or smoothing downside. Our result is independent of any particular tracking algorithm or implementation.
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