Mobility Modeling and Estimation for Delay Tolerant Unmanned Ground Vehicle Networks
NAVAL POSTGRADUATE SCHOOL MONTEREY CA
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An ad hoc unmanned ground vehicle UGV network operates as an intermittently connected mobile delay tolerant network DTN. The path planning strategy in a DTN requires mobility estimation of the spatial positions of the nodes as a function of time. The purpose of this thesis is to create a foundational mobility estimation algorithm that can be coupled with a cooperative communication routing algorithm to provide a basis for real time path planning in UGV-DTNs. In this thesis, we use a Gauss-Markov state space model for the node dynamics. The measurements are constant power received signal strength indicator RSSI signals transmitted from fixed position base stations. An extended Kalman filter EKF is derived for estimating of coordinates in a two-dimensional spatial grid environment. Simulation studies are conducted to test and validate the models and estimation algorithms. We simulate a single mobile node traveling along a trajectory that includes abrupt maneuvers. Estimation performance is measured using zero mean whiteness tests on the innovations sequences, root mean squared error RMSE of the state estimates, weighted sum squared residuals WSSRs on the innovations, and the posterior Cramer-Rao lower bound PCRLB. Under these performance indices, we demonstrate that the mobility estimator performs effectively.
- Computer Systems
- Surface Transportation and Equipment
- Land and Riverine Navigation and Guidance
- Space Technology