On the Performance Limits of Map-Aware Localization
Establishing bounds on the accuracy achievable by localization techniques represents a fundamental technical issue. Bounds on localization accuracy have been derived for cases in which the position of an agent is estimated on the basis of a set of observations and, possibly, of some a priori informa...
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| Veröffentlicht in: | IEEE transactions on information theory 2013-08, Vol.59 (8), p.5023-5038 |
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| creator | Montorsi, Francesco Mazuelas, Santiago Vitetta, Giorgio M. Win, Moe Z. |
| description | Establishing bounds on the accuracy achievable by localization techniques represents a fundamental technical issue. Bounds on localization accuracy have been derived for cases in which the position of an agent is estimated on the basis of a set of observations and, possibly, of some a priori information related to them (e.g., information about anchor positions and properties of the communication channel). In this paper, new bounds are derived under the assumption that the localization system is map-aware, i.e., it can benefit not only from the availability of observations, but also from the a priori knowledge provided by the map of the environment where it operates. Our results show that: a) map-aware estimation accuracy can be related to some features of the map (e.g., its shape and area) even though, in general, the relation is complicated; b) maps are really useful in the presence of some combination of low SNRs and specific geometrical features of the map (e.g., the size of obstructions); c) in most cases, there is no need of refined maps since additional details do not improve estimation accuracy. |
| doi_str_mv | 10.1109/TIT.2013.2257915 |
| format | Article |
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Bounds on localization accuracy have been derived for cases in which the position of an agent is estimated on the basis of a set of observations and, possibly, of some a priori information related to them (e.g., information about anchor positions and properties of the communication channel). In this paper, new bounds are derived under the assumption that the localization system is map-aware, i.e., it can benefit not only from the availability of observations, but also from the a priori knowledge provided by the map of the environment where it operates. 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Bounds on localization accuracy have been derived for cases in which the position of an agent is estimated on the basis of a set of observations and, possibly, of some a priori information related to them (e.g., information about anchor positions and properties of the communication channel). In this paper, new bounds are derived under the assumption that the localization system is map-aware, i.e., it can benefit not only from the availability of observations, but also from the a priori knowledge provided by the map of the environment where it operates. 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| subjects | A priori information Accuracy Analytical models Applied sciences Bayes methods Communication channels Cramer-Rao bound Estimating techniques Estimation Exact sciences and technology Information theory Information, signal and communications theory localization Mathematical model Smoothing methods Systems, networks and services of telecommunications Telecommunications Telecommunications and information theory Transmission and modulation (techniques and equipments) Vectors Weiss-Weinstein bound Ziv-Zikai bound |
| title | On the Performance Limits of Map-Aware Localization |
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