Improved localization in GPS-denied environments using an autoregressive model and a generalized linear model

The Theater Positioning System (TPS), which can perform in GPS-denied environments and can work with, or independently of, GPS systems, was presented in [1]. The principal difficulty in optimally combining this new system and GPS is introduced by the environment, which may impart somewhat unpredictable transmission delays to the signal and thus results in less accurate performance when TPS works unaided in the environment while GPS is unavailable. In this paper, we propose two methods-an autoregressive process and a generalized linear model to model the transmission delays generated in TPS signal propagation. Using those, the unknown signal delays can be predicted and thus can be employed in the subsequent localization process. Numerical examples are provided to illustrate the performance of both methods proposed in this paper.