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Conference on SPIE Disruptive Technologies in Information Sciences II

作者： Kraczek, Brent CCDEVCOM Army Res Lab Attn FCDD RLC HC 328 Hopkins Rd Aberdeen Proving Ground MD 21005 USA

ISBN: (数字)9781510626928

ISBN: (纸本)9781510626928

The battlefield of the future is projected to include regions with high-densities of small, networked devices. As a step toward developing decentralized, multi-path routing protocols for these scenarios, we consider the geometric problem of assembling a geographic representation of the network based solely on information about relative positions of local neighbors. We present two algorithms to be used in series. 1. The assembly of the network from relative positions only. 2. The determination of the geographic extents of the network, and the position of each node within those extents. With this information, the nodes can then assemble a position-based routing protocol, such as the Ad Hoc On-Demand Distance Vector (AODV) routing protocol. We further consider the effects of positional noise on the accuracy of the constructed geography.

关键词： Distributed network assembly positioning algorithms

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Research on Indoor positioning Technology Based on UWB

Research on Indoor Positioning Technology Based on UWB

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第32届中国控制与决策会议

作者： Ning Wang Xulin Yuan Lixin Ma Xincheng Tian School of Control Science and Engineering Shandong University

In this paper,the indoor positioning technology based on UWB is *** anchor is embedded with POE technology,realizing the integration of long-term stable power supply and data communication.A variety of positioning algorithms are compared and analyzed,including Trilateration algorithm,Fang algorithm,Chan algorithm in the case of 3 anchors and Taylor algorithm,Chan algorithm in the case of multiple *** various factors,Taylor algorithm in the case of 4 anchors is finally selected as the core positioning *** moving average preprocessing of the original ranging data is carried out to reduce the random *** function of one-key ranging fitting compensation based on least square method is developed,which can reduce the system error and improve the adaptability to different indoor *** result of Trilateration algorithm with the lowest complexity is taken as the initial iterative value of Taylor algorithm,which effectively shorten the time of positioning *** filter is used to process the positioning results,which greatly improves the positioning stability and dynamic tracking *** the laboratory environment,the positioning accuracy of UWB indoor positioning system in this paper can reach ±10 cm.

关键词： Indoor positioning UWB positioning algorithms Kalman Filter Ranging Fitting Compensation

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Acoustic Local positioning With Encoded Emission Beacons

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PROCEEDINGS OF THE IEEE 2018年第6期106卷 1042-1062页

作者： Urena, Jesus Hernandez, Alvaro Garcia, J. Jesus Villadangos, Jose M. Perez, M. Carmen Gualda, David Alvarez, Fernando J. Aguilera, Teodoro Univ Alcala Elect Dept E-28805 Madrid Spain Univ Extremadura Sensory Syst Res Grp E-06006 Badajoz Spain

Acoustic local positioning systems (ALPSs) are an interesting alternative for indoor positioning due to certain advantages over other approaches, including their relatively high accuracy, low cost, and room-level signal propagation. Centimeter-level or fine-grained indoor positioning can be an asset for robot navigation, guiding a person to, for instance, a particular piece in a museum or to a specific product in a shop, targeted advertising, or augmented reality. In airborne system applications, acoustic positioning can be based on using opportunistic signals or sounds produced by the person or object to be located (e.g., noise from appliances or the speech from a speaker) or from encoded emission beacons (or anchors) specifically designed for this purpose. This work presents a review of the different challenges that designers of systems based on encoded emission beacons must address in order to achieve suitable performance. At low-level processing, the waveform design (coding and modulation) and the processing of the received signal are key factors to address such drawbacks as multipath propagation, multiple-access interference, near-far effect, or Doppler shifting. With regards to high-level system design, the issues to be addressed are related to the distribution of beacons, ease of deployment, and calibration and positioning algorithms, including the possible fusion of information obtained from maps and onboard sensors. Apart from theoretical discussions, this work also includes the description of an ALPS that was implemented, installed in a large area and tested for mobile robot navigation. In addition to practical interest for real applications, airborne ALPSs can also be used as an excellent platform to test complex algorithms (taking advantage of the low sampling frequency required), which can be subsequently adapted for other positioning systems, such as underwater acoustic systems or ultrawideband radiofrequency (UWB RF) systems.

关键词： Acoustic local positioning system (ALPS) beacon deployment and calibration indoor positioning positioning algorithms ultrasonic signals

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Fundamental Concepts and Evolution of Wi-Fi User Localization: An Overview Based on Different Case Studies

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SENSORS 2020年第18期20卷 5121.-5121.页

作者： Retscher, Guenther TU Wien Dept Geodesy & Geoinformat A-1040 Vienna Austria

Indoor positioning poses a number of challenges, especially in large and complex buildings. Several effects, such as signal attenuation, signal fluctuations, interference, and multipath play a decisive role in signal propagation. The severity of each challenge depends on the method and technology adopted to perform user localization. Wi-Fi is a popular method because of its ubiquity with already available public and private infrastructure in many environments and the ability for mobile clients, such as smartphones, to receive these signals. In this contribution, the fundamental concepts and basics and the evolution of Wi-Fi as the most widely used indoor positioning technology are reviewed and demonstrated using four different conducted case studies. Starting from an analysis of the properties of Wi-Fi signals and their propagation, suitable techniques are identified. The mathematical models of location fingerprinting and lateration are consolidated and assessed as well as new technology directions and developments highlighted. Results of the case studies demonstrate the capability of Wi-Fi for continuous user localization also in dynamic environments and kinematic mode where the user walks with a usual step speed. However, to achieve acceptable localization accuracy, calibration of the devices is required to mitigate the variance problems due to the device heterogeneity.

关键词： received signal strength RSS round trip time RTT measurements location fingerprinting lateration combination and fusion of techniques positioning algorithms indoor smartphone user localization

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Improving Real-Time Position Estimation Using Correlated Noise Models

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SENSORS 2020年第20期20卷 5913.-5913.页

作者： Martin, Andrew Parry, Matthew Soundy, Andy W. R. Panckhurst, Bradley J. Brown, Phillip Molteno, Timothy C. A. Schumayer, Daniel Univ Otago Dept Phys 730 Cumberland St Dunedin 9016 New Zealand Univ Otago Dept Math & Stat 730 Cumberland St Dunedin 9016 New Zealand

We provide algorithms for inferring GPS (Global positioning System) location and for quantifying the uncertainty of this estimate in real time. The algorithms are tested on GPS data from locations in the Southern Hemisphere at four significantly different latitudes. In order to rank the algorithms, we use the so-called log-score rule. The best algorithm uses an Ornstein-Uhlenbeck (OU) noise model and is built on an enhanced Kalman Filter (KF). The noise model is capable of capturing the observed autocorrelated process noise in the altitude, latitude and longitude recordings. This model outperforms a KF that assumes a Gaussian noise model, which under-reports the position uncertainties. We also found that the dilution-of-precision parameters, automatically reported by the GPS receiver at no additional cost, do not help significantly in the uncertainty quantification of the GPS positioning. A non-learning method using the actual position measurements and employing a constant uncertainty does not even converge to the correct position. Inference with the enhanced noise model is suitable for embedded computing and capable of achieving real-time position inference, can quantify uncertainty and be extended to incorporate complementary sensor recordings, e.g., from an accelerometer or from a magnetometer, in order to improve accuracy. The algorithm corresponding to the augmented-state unscented KF method suggests a computational cost of O(dx2dt), where dx is the dimension of the augmented state-vector and dt is an adjustable, design-dependent parameter corresponding to the length of "past values" one wishes to keep for re-evaluation of the model from time to time. The provided algorithm assumes dt=1. Hence, the algorithm is likely to be suitable for sensor fusion applications.

关键词： GPS uncertainty quantification sensor fusion noise models embedded computing system performance evaluation positioning algorithms

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RobustPathFinder: Handling Uncertainty in Indoor positioning Techniques 9th

RobustPathFinder: Handling Uncertainty in Indoor Positioning...

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9th International Conference on Ambient Systems, Networks and Technologies (ANT) / 8th International Conference on Sustainable Energy Information Technology (SEIT)

作者： Cecilio, Jose Duarte, Karen Martins, Pedro Furtado, Pedro Univ Coimbra Coimbra Portugal Univ Lisbon Lisbon Portugal Polytech Inst Viseu Viseu Portugal

Indoor navigation technologies rely on accurately determining the position of a moving person or robot to guide her actively through the building. This cannot be done using GPS because it is indoors. We have been dealing with this problem in the context of designing and building a system for helping blind people navigate in public buildings. However, indoor localization based on RSSI is not very accurate, since the quality of the signal is influenced by many factors that include, for instance, wall reflections or people passing by. The fact that the person is moving also introduces several degrees of uncertainty, including a changing number and placement of beacons in-range. The challenge is therefore to develop mechanisms to handle uncertainty. In this paper we propose and evaluate uncertainty-handling mechanisms. (C) 2018 The Authors. Published by Elsevier B.V.

关键词： Indoor positioning Location positioning algorithms Wireless Sensors Beacons RSSI

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RobustPathFinder: Handling Uncertainty in Indoor positioning Techniques

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Procedia Computer Science 2018年 130卷 408-415页

作者： José Cecílio Karen Duarte Pedro Martins Pedro Furtado University of Coimbra Coimbra Portugal University of Lisbon Lisbon Portugal Polytechnic Institute of Viseu Viseu Portugal

关键词： Indoor positioning Location positioning algorithms Wireless Sensors Beacons RSSI

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New Indoor positioning Algorithm for Distance Measurements 40

New Indoor Positioning Algorithm for Distance Measurements

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40th International Conference on Telecommunications and Signal Processing (TSP)

作者： Czapiewska, Agnieszka Gdansk Univ Technol Fac Elect Telecommun & Informat Dept Radiocommun Syst & Networks Gdansk Poland

ISBN: (纸本)9781509039821

In the paper a new indoor positioning algorithm is presented. This algorithm takes into account selected features of radio wave propagation in indoor environment. This results in improvement in accuracy of calculated position estimates. A comparative analysis of this new algorithm with Chan and Foy algorithms was made and described in the paper. This comparative analysis was made with utilization of real radio distance measurements.

关键词： Chan algorithm Foy algorithm indoor environment positioning algorithms radiolocalization

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Flying Ad Hoc Networks: A New Domain for Network Communications

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SENSORS 2018年第10期18卷 3571-3571页

作者： Guillen-Perez, Antonio Cano, Maria-Dolores Univ Politecn Cartagena Dept Informat & Commun Technol Cartagena 30202 Spain

The advent of flying ad hoc networks (FANETs) has opened an opportunity to create new added-value services. Even though it is clear that these networks share common features with its predecessors, e.g., with mobile ad hoc networks and with vehicular ad hoc networks, there are several unique characteristics that make FANETs different. These distinctive features impose a series of guidelines to be considered for its successful deployment. Particularly, the use of FANETs for telecommunication services presents demanding challenges in terms of quality of service, energy efficiency, scalability, and adaptability. The proper use of models in research activities will undoubtedly assist to solve those challenges. Therefore, in this paper, we review mobility, positioning, and propagation models proposed for FANETs in the related scientific literature. A common limitation that affects these three topics is the lack of studies evaluating the influence that the unmanned aerial vehicles (UAV) may have in the on-board/embedded communication devices, usually just assuming isotropic or omnidirectional radiation patterns. For this reason, we also investigate in this work the radiation pattern of an 802.11 n/ac (WiFi) device embedded in a UAV working on both the 2.4 and 5 GHz bands. Our findings show that the impact of the UAV is not negligible, representing up to a 10 dB drop for some angles of the communication links.

关键词： drone unmanned aerial vehicle (UAV) flying ad hoc network (FANET) mobility models positioning algorithms propagation models radiation pattern WiFi

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Visual Marker based Multi-Sensor Fusion State Estimation

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IFAC-PapersOnLine 2017年第1期50卷 16003-16008页

作者： Sanchez-Lopez, Jose Luis Arellano-Quintana, Victor Tognon, Marco Campoy, Pascual Franchi, Antonio Madrid Spain ESIME-UA National Polytechnic Institute Mexico City Mexico LAAS-CNRS Université de Toulouse CNRS Toulouse France

This paper presents the description and experimental results of a versatile Visual Marker based Multi-Sensor Fusion State Estimation that allows to combine a variable optional number of sensors and positioning algorithms in a loosely-coupling fashion, incorporating visual markers to increase its performances. This technique allows an aerial robot to navigate in different environments and carrying out different missions with the same state estimation architecture, exploiting the best from every sensor. The state estimation algorithm has been successfully tested controlling a quadrotor equipped with an extra IMU and a RGB camera used only to detect visual markers. The entire framework runs on an onboard computer, including the controllers and the proposed state estimator. The whole software is made publicly available to the scientific community through an open source implementation. © 2017

关键词： Visual servoing Air navigation Antennas Image sensors Navigation Open source software Open systems State estimation Autonomous Mobile Robot Inertial sensor Open source implementation Position estimation positioning algorithms Scientific community Sensor fusion State estimation algorithms

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