MATEC Web of Conferences (Jan 2018)

GPS-based Tracking over WSNs with Delayed and Missing Data using UFIR Filtering

  • Uribe-Murcia Karen,
  • Shmaliy Yuriy S.,
  • Andrade-Lucio Amparo

DOI
https://doi.org/10.1051/matecconf/201821005002
Journal volume & issue
Vol. 210
p. 05002

Abstract

Read online

Vehicles tracking is organized to increase safety in smart cities by localizing cars using the Global Positioning System (GPS). The GPS-based system provides accurate tracking, but is also required to be reliable and robust. As a main estimator, we propose using the unbiased finite impulse response (UFIR) filter, which meets these needs as a more robust alternative to the Kalman filter (KF). The UFIR filter is developed for vehicle tracking in discrete-time state-space over wireless sensor networks (WSNs) with time-stamped discretely delayed on k-step-lags and missing data. The state-space model is represented in a way such that the UFIR filter, KF, and H∞ filter can be used universally. Applications are given for measurement data, which are cooperatively transferred from a vehicle to a central station through several nodes with k-step-lags. Better tracking performance of the UFIR filter is shown experimentally.