Tampere University of Technology

TUTCRIS Research Portal

Gaussian mixture filter allowing negative weights and its application to positioning using signal strength measurements

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


Original languageEnglish
Title of host publicationProceedings of WPNC 2012, 9th Workshop on Positioning, Navigation and Communication, March 15-16, 2012, Dresden, Germany
Place of PublicationPiscataway, NJ
PublisherInstitute of Electrical and Electronics Engineers IEEE
ISBN (Print)978-1-4673-1437-4
Publication statusPublished - 2012
Publication typeA4 Article in a conference publication

Publication series

NameWorkshop on Positioning, Navigation and Communication


This paper proposes a novel Gaussian Mixture Filter (GMF) that allows components with negative weights. In case of a ring-shaped likelihood function, the new filter keeps the number of components low by approximating the likelihood as a Gaussian mixture (GM) of two components, one with positive and the other with negative weight. In this article, the filter is applied to positioning with received signal strength (RSS) based range measurements. The filter is tested using simulated measurements, and the tests indicate that the new GMF outperforms the Extended Kalman Filter (EKF) in both accuracy and consistency.

Publication forum classification

Field of science, Statistics Finland

Downloads statistics

No data available