原创力文档ropeus a new robust algorithm for static positioning in ultrasonic systemsropeus新的健壮的静态定位算法在超声系统.pdfVIP
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ropeus a new robust algorithm for static positioning in ultrasonic systemsropeus新的健壮的静态定位算法在超声系统
Sensors 2009, 9, 4211-4229; doi:10.3390/
OPEN ACCESS
sensors
ISSN 1424-8220
/journal/sensors
Article
RoPEUS: A New Robust Algorithm for Static Positioning in
Ultrasonic Systems
´ ´ ´
Jose Carlos Prieto , Christophe Croux and Antonio Ramon Jimenez
´ ´
LOPSI group, Instituto de Automatica Industrial, Consejo Superior de Investigaciones Cientıficas
(CSIC), Ctra. Campo Real Km 0.200, 28500 La Poveda-Arganda del Rey, Madrid, Spain;
E-mail: arjimenez@iai.csic.es (A.R.J.)
Faculty of Business and Economics, K.U.Leuven, Naamsestraat 69, 3000 Leuven, Belgium;
E-mail: christophe.croux@econ.kuleuven.be (C.C.)
Author to whom correspondence should be addressed; E-mail: cprieto@iai.csic.es; Tel.: (+34) 91 871
19 00; Fax: (+34) 91 871 70 50
Received: 8 April 2009; in revised form: 6 May 2009 / Accepted: 14 May 2009 /
Published: 3 June 2009
Abstract: A well known problem for precise positioning in real environments is the pres-
ence of outliers in the measurement sample. Its importance is even bigger in ultrasound based
systems since this technology needs a direct line of sight between emitters and receivers.
Standard techniques for outlier detection in range based systems do not usually employ ro-
bust algorithms, failing when multiple outliers are present. The direct application of standard
robust regression algorithms fails in static positioning
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