Rotating Anchor based Direction Estimation Algorithm using Maximum Correntropy Criterion
Liyuan Xu, Jie He, Peng Wang, Kaveh Pahlavan, Qin Wang, University of Science and Technology Beijing, China
To find the relative positional relationship accurately and efficiently without pre-installed infrastructure in emergent scenarios like firefighting, we firstly proposed a rotating-anchor based indoor geolocation system using time of arrival (TOA) technique in this paper. In this system, the positioning problem is regarded as a template matching problem to estimate direction of the target. The TOA ranging errors of empirical measurements in typical indoor environment were analyzed and proved to follow non-gaussian distribution. According to such error characteristics, a direction estimation algorithm of maximum correntropy criterion (MCC) based matching algorithm was proposed in this paper. The performance of algorithm was validated by comparing with least mean square (LMS) and least mean p-norm (LMP) with empirical measurements.