文档介绍：Simultaneous Localization and Tracking
in Wireless Ad-hoc works
by
Christopher J. Taylor
Submitted to the Department of Electrical Engineering puter Science
in Partial Fulfillment of the Requirements for the Degrees of
Bachelor of Science puter Science and Engineering
and Master of Engineering in Electrical Engineering puter Science
at the Massachusetts Institute of Technology
May 6, 2005
Copyright 2005 Christopher J. Taylor. All rights reserved.
The author hereby grants to . permission to reproduce and
distribute publicly paper and electronic copies of this thesis
and to grant others the right to do so.
Author . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Department of Electrical Engineering puter Science
May 6, 2005
Certified by. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Jonathan Bachrach
Thesis Supervisor
Accepted by . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Arthur C. Smith
Chairman, mittee on Graduate Theses
2
Simultaneous Localization and Tracking
in Wireless Ad-hoc works
by
Christopher J. Taylor
Submitted to the
Department of Electrical Engineering puter Science
May 6, 2005
In Partial Fulfillment of the Requirements for the Degrees of
Bachelor of Science puter Science and Engineering
and Master of Engineering in Electrical Engineering puter Science
Abstract
In this thesis we present LaSLAT, a work algorithm that uses range mea-
surements between sensors and a moving target to simultaneously localize the sensors,
calibrate sensing hardware, and recover the target’s trajectory.
LaSLAT is based on a Bayesian filter that updates a probability distribution over
the parameters of interest as me