Abstract
This work presents a new approach for mapping static beacons given only range measurements. An original formulation using sum-of-squares and linear matrix inequalities is derived to test if a measurement is inconsistent with a bounding box containing the beacon position. By performing this test for each range measurement, it is possible to recursively eliminate incompatible boxes and find the smallest consistent box. The box search is done with a breadth-first search algorithm that recursively prunes inconsistent boxes and splits the others to narrow the estimation. The validity of the method is asserted via simulations and compared to other standard mapping methods. Different levels and types of noise are added to evaluate the performances of the algorithm. It resulted that the approach accommodates very well classical zero-mean white Gaussian noises by adaptating the ratio of tolerated outliers for the consistency check, but fails to handle additive biases.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
