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  • Research Article
  • Open Access

Nonparametric Bayesian Filtering for Location Estimation, Position Tracking, and Global Localization of Mobile Terminals in Outdoor Wireless Environments

EURASIP Journal on Advances in Signal Processing20072008:317252

  • Received: 28 February 2007
  • Accepted: 10 November 2007
  • Published:


The mobile terminal positioning problem is categorized into three different types according to the availability of (1) initial accurate location information and (2) motion measurement data. Location estimation refers to the mobile positioning problem when both the initial location and motion measurement data are not available. If both are available, the positioning problem is referred to as position tracking. When only motion measurements are available, the problem is known as global localization. These positioning problems were solved within the Bayesian filtering framework. Filter derivation and implementation algorithms are provided with emphasis on the mapping approach. The radio maps of the experimental area have been created by a 3D deterministic radio propagation tool with a grid resolution of 5 m. Real-world experimentation was conducted in a GSM network deployed in a semiurban environment in order to investigate the performance of the different positioning algorithms.


  • Location Estimation
  • Mobile Terminal
  • Position Tracking
  • Radio Propagation
  • Wireless Environment

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Authors’ Affiliations

Institute of Communications Engineering, Faculty of Electrical Engineering and Information Technology, Leibniz University of Hannover, Appelstrasse 9A, Hannover, 30167, Germany


© Mohamed Khalaf-Allah. 2008

This article is published under license to BioMed Central Ltd. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.