Mobility modeling and estimation for delay tolerant unmanned ground vehicle networks
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Authors
Beach, Timothy M.
Subjects
Unmanned ground vehicle
delay-tolerant network
mobility estimation
Gauss-Markov model
extended Kalman filter
nonlinear dynamic system
estimation performance indices
delay-tolerant network
mobility estimation
Gauss-Markov model
extended Kalman filter
nonlinear dynamic system
estimation performance indices
Advisors
Thulasiraman, Preetha
Clark, Grace
Date of Issue
2013-06
Date
Jun-13
Publisher
Monterey, CA; Naval Postgraduate School
Language
Abstract
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.
Type
Thesis
Description
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NPS Report Number
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Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.