Switching Extended Kalman Filter Bank for Indoor Localization Using Wireless Sensor Networks

Abstract

This paper presents a new filtering algorithm, switching extended Kalman filter bank (SEKFB), for indoor localization using wireless sensor networks. SEKFB overcomes the problem of uncertain process-noise covariance that arises when using the constant-velocity motion model for indoor localization. In the SEKFB algorithm, several extended Kalman filters (EKFs) run in parallel using a set of covariance hypotheses, and the most probable output obtained from the EKFs is selected using Mahalanobis distance evaluation. Simulations demonstrated that the SEKFB can provide accurate and reliable localization without the careful selection of process-noise covariance.