Statistical Trilateration with Skew-t Errors
Müller, Philipp; Piche, Robert (2015-06)
06 / 2015
Julkaisun pysyvä osoite on
In the problem of determining a target's location using radio signal time-of-flight to reference nodes with known locations, measurement errors can be skewed because of multipath effects. In this paper, range errors are modelled using the skew-t distribution. An Expectation-Maximisation (EM) algorithm for computing the unknown location is presented, and its accuracy is compared with a descending Gauss-Newton algorithm by simulations. The EM algorithm improves the positioning accuracy significantly. Furthermore, it is shown how to fit the parameters of a skew-t distribution to training data using a Gibbs sampler.
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