Tampere University of Technology

TUTCRIS Research Portal

3D angle-of-arrival positioning using von Mises-Fisher distribution

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review


Original languageEnglish
Title of host publication2018 21st International Conference on Information Fusion (FUSION)
Subtitle of host publication10-13 July, 2018, Cambridge, United Kingdom
Number of pages6
ISBN (Electronic)978-0-9964527-6-2
Publication statusPublished - 2018
Publication typeA4 Article in a conference publication
EventInternational conference on information fusion -
Duration: 10 Jul 201813 Jul 2018


ConferenceInternational conference on information fusion


We propose modeling an angle-of-arrival (AOA) positioning measurement as a 3-dimensional von Mises-Fisher (VMF)-distributed unit vector instead of the conventional normally distributed azimuth and elevation measurements. Describing the 2-dimensional AOA measurement with three numbers removes discontinuities and reduces nonlinearity at the poles of the azimuth-elevation coordinate system. Our computer simulations show that the proposed VMF measurement noise model based approximative Bayesian filters outperform the normal distribution based algorithms in accuracy in a scenario where close-to-pole measurements occur frequently.

Publication forum classification

Field of science, Statistics Finland

Downloads statistics

No data available