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ETD Abstract Container

Abstract Header

Application of Kalman Filter to estimate position of a mobile node in Indoor environments

Gudipati, Mounika
http://rave.ohiolink.edu/etdc/view?acc_num=akron1479221542995875

Abstract Details

2016, Master of Science in Engineering, University of Akron, Computer Engineering.
Estimating the position of mobile agents in indoor environments is a challenging problem especially when the estimates must be obtained using commercial, low cost devices. The work in this thesis presents experimental results that demonstrate the effectiveness of our approach, that integrates the signal strength data with sensed values of acceleration and angular velocity. A well-known framework called the Kalman Filter is used. To cope with the noise in the measured values, different versions of the Kalman Filter had to be used such as the Extended Kalman Filter and the Unscented Kalman Filter. This framework allowed us to systematically fuse the data from multiple sources to improve the accuracy of the position estimates. Our results demonstrate that positional accuracy of 0.8m within an 30m x 10m area is achieved. In the future, this work can be extended to further reduce the error in the location estimates by inclusion of encoders.
Shiva Sastry, Dr (Advisor)
Nghi Tran, Dr (Committee Member)
Jin Kocsis, Dr (Committee Member)
55 p.
Computer Engineering

Recommended Citations

Citations

  • Gudipati, M. (2016). Application of Kalman Filter to estimate position of a mobile node in Indoor environments [Master's thesis, University of Akron]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=akron1479221542995875

    APA Style (7th edition)

  • Gudipati, Mounika. Application of Kalman Filter to estimate position of a mobile node in Indoor environments. 2016. University of Akron, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=akron1479221542995875.

    MLA Style (8th edition)

  • Gudipati, Mounika. "Application of Kalman Filter to estimate position of a mobile node in Indoor environments." Master's thesis, University of Akron, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=akron1479221542995875

    Chicago Manual of Style (17th edition)

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This open access ETD is published by University of Akron and OhioLINK.