RFID fingerprint-based localization based on different resampling algorithms
HUANG Baohu1,LIU Ran2,ZHANG Hua1,ZHANG Zhao1
1. Sichuan Province Key Laboratory of Robot Technology and Application, Southwest University of Science and Technology, Mianyang Sichuan 621010, China 2. Department of Cognitive Systems, University of Tübingen, 72076 Tübingen, Germany
Abstract：In order to meet the needs of precise positioning of the mobile robot, a fingerprint positioning method of particle filter based on different resampling algorithms was presented. Firstly, during the positioning phase, the motion model built on robot kinematics served as the proposal density of particle filter, and the observation information and environment fingerprint were infused into the filtering process to enhance the particles' refining capacity and reduce the required number of particles. Secondly, an Exquisite Resampling (ER) algorithm was introduced to improve the refining ability of the particles, thus the effect of particle impoverishment could be decreased and the localization accuracy could be improved. At last, the influence of the positioning accuracy caused by different re-sampling algorithms was analyzed, and a further investigation on the accuracy and reliability of localization algorithm from different experimental perspectives was given. The experimental results show that this algorithm has the advantages in localization accuracy and robustness.
黄保虎 刘冉 张华 张昭. 基于不同重采样算法的RFID指纹定位[J]. 计算机应用, 2013, 33(02): 595-599.
HUANG Baohu LIU Ran ZHANG Hua ZHANG Zhao. RFID fingerprint-based localization based on different resampling algorithms. Journal of Computer Applications, 2013, 33(02): 595-599.
2013, Vol. 33 
