Improved Animal Tracking Algorithms Using Distributed Kalman-based Filters

Konferenz: European Wireless 2011 - Sustainable Wireless Technologies
27.04.2011 - 29.04.2011 in Vienna, Austria

Tagungsband: European Wireless 2011

Seiten: 8Sprache: EnglischTyp: PDF

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Dopico, Nelson I.; Bejar, Benjamin; Macua, Sergio Valcarcel; Belanovic, Pavle; Zazo, Santiago (ETSI de Telecomunicacion, Universidad Politecnica de Madrid (UPM), Ciudad Universitaria, 28040 Madrid, Spain)

Animal tracking has been addressed by different initiatives over the last two decades. Most of them rely on satellite connectivity on every single node and lack of energy-saving strategies. This paper presents several new contributions on the tracking of dynamic heterogeneous asynchronous networks (primary nodes with GPS and secondary nodes with a kinetic generator) motivated by the animal tracking paradigm with random transmissions. A simple approach based on connectivity and coverage intersection is compared with more sophisticated algorithms based on ad-hoc implementations of distributed Kalman-based filters that integrate measurement information using Consensus principles in order to provide enhanced accuracy. Several simulations varying the coverage range, the random behavior of the kinetic generator (modeled as a Poisson Process) and the periodic activation of GPS are included. In addition, this study is enhanced with HW developments and implementations on commercial off-the-shelf equipment which show the feasibility for performing these proposals on real hardware.