无线传感器网络环境下基于超声波的室内定位系统设计与实现
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摘要
无线传感器网络(Wireless Sensor Networks，WSNs)是由大量散布的传感器节点通过一定方式构成的无线网络。传感器节点通过相互之间的分工协作，可感知、监测和采集分布区域内的移动对象或周围环境的信息。
在无线传感器网络覆盖区域进行目标定位有着与传统方法明显不同的技术特征和要求。无线传感器网络的传感器节点要求同时满足低功耗，低成本，方便使用。目前移动机器人对于环境的位置感知仍然没有一个比较适合应用的实现，昂贵的定位设备只有高档的机器人才装备得起。针对目前这种现状，为研制低成本，高精度的具有应用前景的移动机器人位置感知系统，我们开发了MUTE定位系统：一个无线传感器网络技术、传感器技术、数据处理技术的实验开发平台。
本系统主要基于TOA(time of arrival)测距定位原理，与GPS定位原理相似。本论文描述了系统的总体结构框架设计，包括硬件、软件、数据结构以及通讯接口，以及开发过程包含的软硬件工具。
目前基于IEEE802.15.4的无线传感器网络的传感器节点资源有限，因此节点数目增多后网络的性能明显受到影响。异构网络可以作为潜在的解决方案，来解决如何保证网络性能的情况下，增加网络规模的问题。本系统为一种簇状型网络拓扑结构，簇头节点之间的连接中引入了异构网架构。
不仅在无线传感器网络中有静态sink节点，而且设置了移动sink节点。机器人将不仅仅是网络中被定位跟踪的对象，通过移动sink节点机器人可以接收和处理网络信息。MUTE为研究移动机器人与传感器网络的动态交互提供了支持。
在对比分析国内外研究成果的基础上开发了超声波定位传感器阵列，运用．NET技术开发了上位机软件，动态演示数据处理解析过程，定位算法。在2D定位实验中取得3.7975cm的精度。
Wireless Sensor Networks (WSNs) is collected by a number of sensor nodes which have certain topology. Nodes which cooperate with each other can sense, measure, and obtain the information of environment and mobile target in the area.
It is apparently different characteristic and requirements between localization in WSNs and other traditional localization approach. Sensor nodes need to achieve low-cost, save-power and easy implementation. Now, it is a problem for small mobile robot localization and tracking. Expensive sensor devices are for expensive robot. There is need for low-cost, high precision localization system. Because of this, we developed MUTE localization system platform which based on WSNs technology, ultrasonic sensor technology, and data analysis technology.
MUTE uses TOA (time of arrival) technology, like GPS localization. This thesis will descript architecture and design of this system, which contain hardware, software, data structure and interface, and tools.
Because the resources of nodes based on IEEE 802.15.4 are limited, it's difficult to maintain network performance, while increasing nodes. Heterogeneous sensor networks, the potential solution, may build network with large numbers of inexpensive wireless sensor nodes while maintaining a high level of network performance. MUTE have topology architecture of cluster tree, and heterogeneous sensor networks.
There are not only static sink nodes, but also mobile sink nodes. Mobile robot will not merely be the tracked target; it can also receive and process the network data through mobile sink node. MUTE offers supporting for dynamic cooperation study between robot and WSNs.
We analyzed reference paper and developed a suit of ultrasonic localization sensor array, and software based on .net technology that can dynamic demonstrate the data processing and algorithm compensation. The real experiment indicated the 2D localization accuracies achieved 3.7975cm.
在无线传感器网络覆盖区域进行目标定位有着与传统方法明显不同的技术特征和要求。无线传感器网络的传感器节点要求同时满足低功耗，低成本，方便使用。目前移动机器人对于环境的位置感知仍然没有一个比较适合应用的实现，昂贵的定位设备只有高档的机器人才装备得起。针对目前这种现状，为研制低成本，高精度的具有应用前景的移动机器人位置感知系统，我们开发了MUTE定位系统：一个无线传感器网络技术、传感器技术、数据处理技术的实验开发平台。
本系统主要基于TOA(time of arrival)测距定位原理，与GPS定位原理相似。本论文描述了系统的总体结构框架设计，包括硬件、软件、数据结构以及通讯接口，以及开发过程包含的软硬件工具。
目前基于IEEE802.15.4的无线传感器网络的传感器节点资源有限，因此节点数目增多后网络的性能明显受到影响。异构网络可以作为潜在的解决方案，来解决如何保证网络性能的情况下，增加网络规模的问题。本系统为一种簇状型网络拓扑结构，簇头节点之间的连接中引入了异构网架构。
不仅在无线传感器网络中有静态sink节点，而且设置了移动sink节点。机器人将不仅仅是网络中被定位跟踪的对象，通过移动sink节点机器人可以接收和处理网络信息。MUTE为研究移动机器人与传感器网络的动态交互提供了支持。
在对比分析国内外研究成果的基础上开发了超声波定位传感器阵列，运用．NET技术开发了上位机软件，动态演示数据处理解析过程，定位算法。在2D定位实验中取得3.7975cm的精度。
Wireless Sensor Networks (WSNs) is collected by a number of sensor nodes which have certain topology. Nodes which cooperate with each other can sense, measure, and obtain the information of environment and mobile target in the area.
It is apparently different characteristic and requirements between localization in WSNs and other traditional localization approach. Sensor nodes need to achieve low-cost, save-power and easy implementation. Now, it is a problem for small mobile robot localization and tracking. Expensive sensor devices are for expensive robot. There is need for low-cost, high precision localization system. Because of this, we developed MUTE localization system platform which based on WSNs technology, ultrasonic sensor technology, and data analysis technology.
MUTE uses TOA (time of arrival) technology, like GPS localization. This thesis will descript architecture and design of this system, which contain hardware, software, data structure and interface, and tools.
Because the resources of nodes based on IEEE 802.15.4 are limited, it's difficult to maintain network performance, while increasing nodes. Heterogeneous sensor networks, the potential solution, may build network with large numbers of inexpensive wireless sensor nodes while maintaining a high level of network performance. MUTE have topology architecture of cluster tree, and heterogeneous sensor networks.
There are not only static sink nodes, but also mobile sink nodes. Mobile robot will not merely be the tracked target; it can also receive and process the network data through mobile sink node. MUTE offers supporting for dynamic cooperation study between robot and WSNs.
We analyzed reference paper and developed a suit of ultrasonic localization sensor array, and software based on .net technology that can dynamic demonstrate the data processing and algorithm compensation. The real experiment indicated the 2D localization accuracies achieved 3.7975cm.
引文
[1] Vijay, Kumar, Daniela, Rus, Sanjiv, Singh. Robot and Sensor Networks for First Responders. Published by the IEEE CS and IEEE ComSoc 1536-1268/04/$20.0 2004 IEEE.
[2] G.A. Kantor, S. Singh, R. Peterson, D. Rus, A. Das, V. Kumar, G. Pereira, and J. Spletzer. Distributed Search and Rescue with Robot and Sensor Teams. The 4th International Conference on Field and Service Robotics, July, 2003.
[3] Peter Corke, Ron Petersony, Daniela Rusz. Networked Robots: Flying Robot Navigation using a Sensor Net. April 18, 2003.
[4] Lynne E. Parker, Ben Birch, and Chris Reardon. Indoor Target Intercept Using an Acoustic Sensor Network and Dual Wavefront Path Planning. Intelligent Robots and Systems. 2003, (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on.
[5] E. Foxlin, M. Harrington, and G. Pfeiffer. Constellation: A Wide-Range Wireless Motion-Tracking System for Augmented Reality and Virtual Set Applications. In Proc. ACM SIGGRAPH, Orlando, FL, July 1998.
[6] Nissanka B. et. al.. The Cricket Compass for Context- aware Mobile Applications [A]. Proceedings of 7th ACM International Conference on Mobile Computing and Networking, MOBICOM '2001 [C]. Rome(Italy), 2001. NewYork (NY ,USA): ACM Press, 2001.1—14.
[7] S. Coleri, S. Y. Cheung, and P. Varaiya. Sensor Networksfor Monitoring Traffic. In Allerton Conference on Communication,Control and Computing. 2004.
[8] Stankovic J A,Cao Q,Doan T,et al. Wireless sensor networks for in-home healthcare :potential and challenges[EB/OL].www.cis.upenn.edu/hcmdss/Papers/submissions/13.doc, 2005-01-15.
[9] Nissanka B. Priyantha, Anit Chakraborty. and Hari Balakrishnan. The Cricket Location-Support System MIT Laboratory for Computer Science 6th ACM International Conference on Mobile Computing and Networking (ACM MOBICOM), Boston, MA, August 2000(Slightly revised).
[10] Nissanka, Bodhi, Priyantha. The Cricket Indoor Location System PhD Thesis. Massachusetts Institute of Technology. June 2005.
[11] Andy Ward. Alan Jones. Andy Hopper. A New Location Technique for the Active Office. IEEE Personal Communications. October 1997.
[12] Want, R. Hopper, A., Falcao, V., Gibbons, J. The Active Badge Location System. ACM Transactions on Information Systems. January 1992.
[13] BAHL, P., AND PADMANABHAN, V. RADAR: An In-Building RF-based User Location and Tracking System. InProc. IEEE INFOCOM (Tel-Aviv, Israel, Mar. 2000).
[14] E. Foxlin, M. Harrington, and G. Pfeiffer. Constellation: A Wide-Range Wireless Motion-Tracking System for Augmented Reality and Virtual Set Applications. In Proc. ACM SIGGRAPH, Orlando, FL, July 1998.
[15] 朱林，袁晓，葛利嘉等．超宽带无线传感器网络综述[J]．测控技术，2004，23(12)：1-4．
[16] Stoleru R. He T. Stankovic JA, Luebke D. A high-accuracy, low-cost localization system for wireless sensor networks. ACM Press New York, NY, USA.
[17] Bulusu N. Heidemann J. Estrin D. GPS-less Low-cost Outdoor Localization for Very Small Devices [J]. IEEE Personal Communications, 2000, 7(5): 28-34.
[18] Niculescu D. Nath B. Ad hoc Positioning System [APS]. Conference Record of IEEE Global Telecommunications Conference, GLOBECOM 2001, VolS[C]. San Antonio(TX, U SA), 2001, iscataw ay (NJ, U SA ): IEEE, 2001. 2926—2931.
[19] Veljo Otsason, Alex Varshavsky, Anthony LaMarca, and Eyal de Lara. Accurate GSM Indoor Localization. M. Beigl. et al. (Eds.): UbiComp 2005, LNCS 3660, pp. 141-158, 2005.
[20] 朱近康．无线传感器网络技术[J]．中兴通讯技术，2004，10(S0)：14-15．
[21] 孙利民等．《无线传感器网络》[M]．清华大学出版社．2005：8-45．
[22] 于宏毅．《无线移动自组织网》IM]．人民邮电出版社．2005：10-50．
[23] Raghavendra C S, Sivalingam KM, ZnatiT. Wireless Sensor Networks [M]. Boston (M A, U SA): Kluwer Acadenic Publishers, 2004.
[24] David Johnson, Tim Stack, Russ Fish, Dan Flickinger, Rob Ricci, Jay Lepreau. TrueMobile: A Mobile Robotic Wireless and Sensor Network Testbed. University of Utah Flux Group Technical Note FTN-2005-02, April 8, 2005
[25] J. Lei, R. Yates, L. Greenstein, and H. Liu. Wireless Link SNR Mapping Onto An Indoor Testbed. In Proceedings of theIEEE Tridentcom, 2005.
[26] G. Werner-Allen, P. Swieskowski, and M. Welsh. MoteLab:A Wireless Sensor Network Testbed.
[27] Meguerdichian S. Slijepcevic S. Karayan V. et al. Localized algorithms in wireless ad-hoc networks: Location discovery and sensor exposure. Proceedings of the 2nd ACM international symposium on Mobile ad hoc networking & computing, 2001
[28] 马玉秋，沈树群，张平，龙承志．基于无线传感器网络的定位系统研究及设计[J]．重庆邮电学院学报(自然科学版)．2006，18(1)：43～46．
[29] Jr., Edgar H. Callaway. Wireless Sensor Networks: Architectures and Protocols [M]. Boca Raton (FL, USA ): CRC Press, 2003, 352 pages.
[30] 李保国，王巍，张阳天．利用可编程超声波阵列准确定位目标点位置[J]．北京航空航天大学学报．2005，31(7)：819-822．
[31] MICAz motes: http://www.xbow.com/
[32] Crossbow MIB510 Serial Gateway: http://www.xbow.com/Products/productsdetails.aspx?sid=79.
[33] WinAVR http://easynews.dl.sourceforge.net/sourceforge/winavr/winAVR-20050204-install.exe, 2005.
[34] PonyProg2000 http://www.LancOS.com
[35] TinyOS: http://www.tinyos.net/
[36] TEP2: Hardware Abstraction Architecture. http://tinyos.cvs.sourceforge.net/checkout/tinyos/tinyos-2.x/doc/html/tep2.html?pathrev=tinyos-2_0_devel-BRANCH.
[37] TEP106: Schedulers and Tasks. http://tinyos.cvs.sourceforge.net/checkout/tinyos/tinyos-2.x/doc/html/tep106.html?pathrev=tinyos-2_0_devel-BRANCH.
[38] 陈喜贞，王书茂，徐勇军．TinyOS内核调度机制及改进策略[J]．计算机工程．2006，32(19)：85-87．
[39] Julien Cartigny, and David Simplot, Ivan Stojmenovi. Localized minimum-energy broadcasting in ad-hoc networks, 0-7803-7753-2/03/$17.00 (C) 2003 IEEE
[40] S. C. Wang, D. S. L. Wei, and S. Y. Kuo, "A SPT-Based Topology Control Algorithm for Wireless Ad Hoc Networks," Computer Communications, special issue on IPv6: the Next Generation Internet Protocol, Vol. 29. issue 16, pp.3092-3103, Oct. 2006
[41] 李建中，李金宝，石胜飞．传感器网络及其数据管理的概念、问题与进展[J]．软件学报，，2003，14(10)：1717-1725．
[42] Zhao Feng, Guibas L J. Wireless Sensor Networks: An Information Processing Approach [M]. Amsterdam (Netherlands): Morgan Kaufmann Publishers, 2004.
[43] C. -L. Fok, G. -C. Roman, and C. Lu, "Rapid Development and Flexible Deployment of Adaptive Wireless Sensor Network Applications" Proceedings of the International Conference on Distributed Computing Systems (ICDCS), 2005.
[44] C. -L. Fok, G. -C. Roman, and C. Lu, "Mobile Agent Middleware for Sensor Networks: An Application Case Study, "International Conference on Information Processing in Sensor Networks (IPSN'05), Los Angeles, CA, April 2005.
[45] D. Marsh, R. Tynan, D. O'Kane, and G. O'Hare. Autonomic wireless sensor networks. Engineering Applications of Artificial Intelligence, 2004.
[46] 孙学斌，王汇源，周正．自组网中节点位置推测算法的研究[J]．山东大学学报(工学版)．2003，34(3)：55—59．
[47] 史龙，王福豹，段渭军等．无线传感器网络Range-Free自身定位机制与算法[J]．计算机工程与应用．2004，40(23)：127—130，151．
[48] H. T. Kung and D. Vlah, Efficient Location Tracking Using Sensor Networks, Proceedings of 2003 IEEE Wireless Communications and Networking Conference (WCNC)
[49] Das, S, Gleason, C, Shen, S, Goddard, S, Perez, L. C: This paper appears in: 2D tracking performance evaluation using the cricket location-support system, Electro Information Technology, 2005 IEEE International Conference on, Publication Date: 22-25 May 2005
[50] Dieter Fox, Jeffrey Hightower, Lin Liao, Dirk Schulz, Gaetano Borriello. Bayesian Filtering for Location Estimation. Published by the IEEE CS and IEEE ComSoc. 1536-1268/03/$17.00 @2003 IEEE.
[51] 陈南．智能建筑中火灾信息探测算法分析及应用．仪器仪表学报．2003，z2．
[2] G.A. Kantor, S. Singh, R. Peterson, D. Rus, A. Das, V. Kumar, G. Pereira, and J. Spletzer. Distributed Search and Rescue with Robot and Sensor Teams. The 4th International Conference on Field and Service Robotics, July, 2003.
[3] Peter Corke, Ron Petersony, Daniela Rusz. Networked Robots: Flying Robot Navigation using a Sensor Net. April 18, 2003.
[4] Lynne E. Parker, Ben Birch, and Chris Reardon. Indoor Target Intercept Using an Acoustic Sensor Network and Dual Wavefront Path Planning. Intelligent Robots and Systems. 2003, (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on.
[5] E. Foxlin, M. Harrington, and G. Pfeiffer. Constellation: A Wide-Range Wireless Motion-Tracking System for Augmented Reality and Virtual Set Applications. In Proc. ACM SIGGRAPH, Orlando, FL, July 1998.
[6] Nissanka B. et. al.. The Cricket Compass for Context- aware Mobile Applications [A]. Proceedings of 7th ACM International Conference on Mobile Computing and Networking, MOBICOM '2001 [C]. Rome(Italy), 2001. NewYork (NY ,USA): ACM Press, 2001.1—14.
[7] S. Coleri, S. Y. Cheung, and P. Varaiya. Sensor Networksfor Monitoring Traffic. In Allerton Conference on Communication,Control and Computing. 2004.
[8] Stankovic J A,Cao Q,Doan T,et al. Wireless sensor networks for in-home healthcare :potential and challenges[EB/OL].www.cis.upenn.edu/hcmdss/Papers/submissions/13.doc, 2005-01-15.
[9] Nissanka B. Priyantha, Anit Chakraborty. and Hari Balakrishnan. The Cricket Location-Support System MIT Laboratory for Computer Science 6th ACM International Conference on Mobile Computing and Networking (ACM MOBICOM), Boston, MA, August 2000(Slightly revised).
[10] Nissanka, Bodhi, Priyantha. The Cricket Indoor Location System PhD Thesis. Massachusetts Institute of Technology. June 2005.
[11] Andy Ward. Alan Jones. Andy Hopper. A New Location Technique for the Active Office. IEEE Personal Communications. October 1997.
[12] Want, R. Hopper, A., Falcao, V., Gibbons, J. The Active Badge Location System. ACM Transactions on Information Systems. January 1992.
[13] BAHL, P., AND PADMANABHAN, V. RADAR: An In-Building RF-based User Location and Tracking System. InProc. IEEE INFOCOM (Tel-Aviv, Israel, Mar. 2000).
[14] E. Foxlin, M. Harrington, and G. Pfeiffer. Constellation: A Wide-Range Wireless Motion-Tracking System for Augmented Reality and Virtual Set Applications. In Proc. ACM SIGGRAPH, Orlando, FL, July 1998.
[15] 朱林，袁晓，葛利嘉等．超宽带无线传感器网络综述[J]．测控技术，2004，23(12)：1-4．
[16] Stoleru R. He T. Stankovic JA, Luebke D. A high-accuracy, low-cost localization system for wireless sensor networks. ACM Press New York, NY, USA.
[17] Bulusu N. Heidemann J. Estrin D. GPS-less Low-cost Outdoor Localization for Very Small Devices [J]. IEEE Personal Communications, 2000, 7(5): 28-34.
[18] Niculescu D. Nath B. Ad hoc Positioning System [APS]. Conference Record of IEEE Global Telecommunications Conference, GLOBECOM 2001, VolS[C]. San Antonio(TX, U SA), 2001, iscataw ay (NJ, U SA ): IEEE, 2001. 2926—2931.
[19] Veljo Otsason, Alex Varshavsky, Anthony LaMarca, and Eyal de Lara. Accurate GSM Indoor Localization. M. Beigl. et al. (Eds.): UbiComp 2005, LNCS 3660, pp. 141-158, 2005.
[20] 朱近康．无线传感器网络技术[J]．中兴通讯技术，2004，10(S0)：14-15．
[21] 孙利民等．《无线传感器网络》[M]．清华大学出版社．2005：8-45．
[22] 于宏毅．《无线移动自组织网》IM]．人民邮电出版社．2005：10-50．
[23] Raghavendra C S, Sivalingam KM, ZnatiT. Wireless Sensor Networks [M]. Boston (M A, U SA): Kluwer Acadenic Publishers, 2004.
[24] David Johnson, Tim Stack, Russ Fish, Dan Flickinger, Rob Ricci, Jay Lepreau. TrueMobile: A Mobile Robotic Wireless and Sensor Network Testbed. University of Utah Flux Group Technical Note FTN-2005-02, April 8, 2005
[25] J. Lei, R. Yates, L. Greenstein, and H. Liu. Wireless Link SNR Mapping Onto An Indoor Testbed. In Proceedings of theIEEE Tridentcom, 2005.
[26] G. Werner-Allen, P. Swieskowski, and M. Welsh. MoteLab:A Wireless Sensor Network Testbed.
[27] Meguerdichian S. Slijepcevic S. Karayan V. et al. Localized algorithms in wireless ad-hoc networks: Location discovery and sensor exposure. Proceedings of the 2nd ACM international symposium on Mobile ad hoc networking & computing, 2001
[28] 马玉秋，沈树群，张平，龙承志．基于无线传感器网络的定位系统研究及设计[J]．重庆邮电学院学报(自然科学版)．2006，18(1)：43～46．
[29] Jr., Edgar H. Callaway. Wireless Sensor Networks: Architectures and Protocols [M]. Boca Raton (FL, USA ): CRC Press, 2003, 352 pages.
[30] 李保国，王巍，张阳天．利用可编程超声波阵列准确定位目标点位置[J]．北京航空航天大学学报．2005，31(7)：819-822．
[31] MICAz motes: http://www.xbow.com/
[32] Crossbow MIB510 Serial Gateway: http://www.xbow.com/Products/productsdetails.aspx?sid=79.
[33] WinAVR http://easynews.dl.sourceforge.net/sourceforge/winavr/winAVR-20050204-install.exe, 2005.
[34] PonyProg2000 http://www.LancOS.com
[35] TinyOS: http://www.tinyos.net/
[36] TEP2: Hardware Abstraction Architecture. http://tinyos.cvs.sourceforge.net/checkout/tinyos/tinyos-2.x/doc/html/tep2.html?pathrev=tinyos-2_0_devel-BRANCH.
[37] TEP106: Schedulers and Tasks. http://tinyos.cvs.sourceforge.net/checkout/tinyos/tinyos-2.x/doc/html/tep106.html?pathrev=tinyos-2_0_devel-BRANCH.
[38] 陈喜贞，王书茂，徐勇军．TinyOS内核调度机制及改进策略[J]．计算机工程．2006，32(19)：85-87．
[39] Julien Cartigny, and David Simplot, Ivan Stojmenovi. Localized minimum-energy broadcasting in ad-hoc networks, 0-7803-7753-2/03/$17.00 (C) 2003 IEEE
[40] S. C. Wang, D. S. L. Wei, and S. Y. Kuo, "A SPT-Based Topology Control Algorithm for Wireless Ad Hoc Networks," Computer Communications, special issue on IPv6: the Next Generation Internet Protocol, Vol. 29. issue 16, pp.3092-3103, Oct. 2006
[41] 李建中，李金宝，石胜飞．传感器网络及其数据管理的概念、问题与进展[J]．软件学报，，2003，14(10)：1717-1725．
[42] Zhao Feng, Guibas L J. Wireless Sensor Networks: An Information Processing Approach [M]. Amsterdam (Netherlands): Morgan Kaufmann Publishers, 2004.
[43] C. -L. Fok, G. -C. Roman, and C. Lu, "Rapid Development and Flexible Deployment of Adaptive Wireless Sensor Network Applications" Proceedings of the International Conference on Distributed Computing Systems (ICDCS), 2005.
[44] C. -L. Fok, G. -C. Roman, and C. Lu, "Mobile Agent Middleware for Sensor Networks: An Application Case Study, "International Conference on Information Processing in Sensor Networks (IPSN'05), Los Angeles, CA, April 2005.
[45] D. Marsh, R. Tynan, D. O'Kane, and G. O'Hare. Autonomic wireless sensor networks. Engineering Applications of Artificial Intelligence, 2004.
[46] 孙学斌，王汇源，周正．自组网中节点位置推测算法的研究[J]．山东大学学报(工学版)．2003，34(3)：55—59．
[47] 史龙，王福豹，段渭军等．无线传感器网络Range-Free自身定位机制与算法[J]．计算机工程与应用．2004，40(23)：127—130，151．
[48] H. T. Kung and D. Vlah, Efficient Location Tracking Using Sensor Networks, Proceedings of 2003 IEEE Wireless Communications and Networking Conference (WCNC)
[49] Das, S, Gleason, C, Shen, S, Goddard, S, Perez, L. C: This paper appears in: 2D tracking performance evaluation using the cricket location-support system, Electro Information Technology, 2005 IEEE International Conference on, Publication Date: 22-25 May 2005
[50] Dieter Fox, Jeffrey Hightower, Lin Liao, Dirk Schulz, Gaetano Borriello. Bayesian Filtering for Location Estimation. Published by the IEEE CS and IEEE ComSoc. 1536-1268/03/$17.00 @2003 IEEE.
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