Abstract
In this paper, a calibration method based on a two-step extended Kalman filter (EKF) is proposed. Firstly, the four vertex positions of a rectangle in the environment are calibrated. Specifically, in the first stage the initial position states of all anchor nodes are obtained using a rough localization method. In the second stage, the first and second step EKFs are used to obtain the real-time state of the measured target and all anchor nodes. The state estimation of all anchor nodes is achieved by employing the iterative process of the two-step EKF. The effectiveness and stability of the proposed algorithm are verified by simulations and experiment.
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