Novel Solutions to the Three-Anchor ToA-Based Three-Dimensional Positioning Problem

At least four non-coplanar anchor nodes (ANs) are required for the time-of-arrival (ToA)-based three-dimensional (3D) positioning to enable unique position estimation. Direct method (DM) and particle filter (PF) algorithms were developed to address the three-anchor ToA-based 3D positioning problem....

Descripción completa

Guardado en:

Detalles Bibliográficos
Autor principal:	Mohamed Khalaf-Allah
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	time of arrival (ToA) three-dimensional (3D) positioning direct method (DM) particle filter (PF) unmanned aerial vehicle (UAV) Chemical technology TP1-1185
Acceso en línea:	https://doaj.org/article/2a7f3ad1ae87420499ce7be261d3da94
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

id	oai:doaj.org-article:2a7f3ad1ae87420499ce7be261d3da94
record_format	dspace
spelling	oai:doaj.org-article:2a7f3ad1ae87420499ce7be261d3da942021-11-11T19:16:14ZNovel Solutions to the Three-Anchor ToA-Based Three-Dimensional Positioning Problem10.3390/s212173251424-8220https://doaj.org/article/2a7f3ad1ae87420499ce7be261d3da942021-11-01T00:00:00Zhttps://www.mdpi.com/1424-8220/21/21/7325https://doaj.org/toc/1424-8220At least four non-coplanar anchor nodes (ANs) are required for the time-of-arrival (ToA)-based three-dimensional (3D) positioning to enable unique position estimation. Direct method (DM) and particle filter (PF) algorithms were developed to address the three-anchor ToA-based 3D positioning problem. The proposed DM reduces this problem to the solution of a quadratic equation, exploiting the knowledge about the workspace, to first estimate the <i>x</i>- or <i>z</i>-coordinate, and then the remaining two coordinates. The implemented PF uses 1000 particles to represent the posterior probability density function (PDF) of the AN’s 3D position. The prediction step generates new particles by a resampling procedure. The ToA measurements determine the importance of these particles to enable updating the posterior PDF and estimating the 3D position of the AN. Simulation results corroborate the viability of the developed DM and PF algorithms, in terms of accuracy and computational cost, in the pursuit and circumnavigation scenarios, and even with a horizontally coplanar arrangement of the three ANs. Therefore, it is possible to enable applications requiring real-time positioning, such as unmanned aerial vehicle (UAV) autonomous docking and circling a stationary (or moving) position, without the need for an excessive number of ANs.Mohamed Khalaf-AllahMDPI AGarticletime of arrival (ToA)three-dimensional (3D) positioningdirect method (DM)particle filter (PF)unmanned aerial vehicle (UAV)Chemical technologyTP1-1185ENSensors, Vol 21, Iss 7325, p 7325 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	time of arrival (ToA) three-dimensional (3D) positioning direct method (DM) particle filter (PF) unmanned aerial vehicle (UAV) Chemical technology TP1-1185
spellingShingle	time of arrival (ToA) three-dimensional (3D) positioning direct method (DM) particle filter (PF) unmanned aerial vehicle (UAV) Chemical technology TP1-1185 Mohamed Khalaf-Allah Novel Solutions to the Three-Anchor ToA-Based Three-Dimensional Positioning Problem
description	At least four non-coplanar anchor nodes (ANs) are required for the time-of-arrival (ToA)-based three-dimensional (3D) positioning to enable unique position estimation. Direct method (DM) and particle filter (PF) algorithms were developed to address the three-anchor ToA-based 3D positioning problem. The proposed DM reduces this problem to the solution of a quadratic equation, exploiting the knowledge about the workspace, to first estimate the <i>x</i>- or <i>z</i>-coordinate, and then the remaining two coordinates. The implemented PF uses 1000 particles to represent the posterior probability density function (PDF) of the AN’s 3D position. The prediction step generates new particles by a resampling procedure. The ToA measurements determine the importance of these particles to enable updating the posterior PDF and estimating the 3D position of the AN. Simulation results corroborate the viability of the developed DM and PF algorithms, in terms of accuracy and computational cost, in the pursuit and circumnavigation scenarios, and even with a horizontally coplanar arrangement of the three ANs. Therefore, it is possible to enable applications requiring real-time positioning, such as unmanned aerial vehicle (UAV) autonomous docking and circling a stationary (or moving) position, without the need for an excessive number of ANs.
format	article
author	Mohamed Khalaf-Allah
author_facet	Mohamed Khalaf-Allah
author_sort	Mohamed Khalaf-Allah
title	Novel Solutions to the Three-Anchor ToA-Based Three-Dimensional Positioning Problem
title_short	Novel Solutions to the Three-Anchor ToA-Based Three-Dimensional Positioning Problem
title_full	Novel Solutions to the Three-Anchor ToA-Based Three-Dimensional Positioning Problem
title_fullStr	Novel Solutions to the Three-Anchor ToA-Based Three-Dimensional Positioning Problem
title_full_unstemmed	Novel Solutions to the Three-Anchor ToA-Based Three-Dimensional Positioning Problem
title_sort	novel solutions to the three-anchor toa-based three-dimensional positioning problem
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/2a7f3ad1ae87420499ce7be261d3da94
work_keys_str_mv	AT mohamedkhalafallah novelsolutionstothethreeanchortoabasedthreedimensionalpositioningproblem
_version_	1718431573900001280

Novel Solutions to the Three-Anchor ToA-Based Three-Dimensional Positioning Problem

Ejemplares similares