Target Tracking in Confined Environments with Uncertain Sensor Positions
Journal article, 2016

To ensure safety in confined environments such as mines or subway tunnels, a (wireless) sensor network can be deployed to monitor various environmental conditions. One of its most important applications is to track personnel, mobile equipment, and vehicles. However, the state-of-the-art algorithms assume that the positions of the sensors are perfectly known, which is not necessarily true due to imprecise placement and/or dropping of sensors. Therefore, we propose an automatic approach for simultaneous refinement of sensors' positions and target tracking. We divide the considered area in a finite number of cells, define dynamic and measurement models, and apply a discrete variant of belief propagation that can efficiently solve this high-dimensional problem and handle all non-Gaussian uncertainties expected in this kind of environment. Finally, we use ray-tracing simulation to generate an artificial mine-like environment and generate synthetic measurement data. According to our extensive simulation study, the proposed approach performs significantly better than standard Bayesian target tracking and localization algorithms and provides robustness against outliers.


Vladimir Savic

Linköping University

Henk Wymeersch

Chalmers, Signals and Systems, Communication, Antennas and Optical Networks

E. G. Larsson

Linköping University

IEEE Transactions on Vehicular Technology

0018-9545 (ISSN) 1939-9359 (eISSN)

Vol. 65 2 870-882 7042332

Cooperative Situational Awareness for Wireless Networks (COOPNET)

European Commission (EC) (EC/FP7/258418), 2011-05-01 -- 2016-04-30.

Robust and Fault-Tolerant Cooperative Positioning

Swedish Research Council (VR) (2010-5889), 2011-01-01 -- 2013-12-31.

Areas of Advance

Information and Communication Technology

Subject Categories

Communication Systems

Signal Processing



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