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Optimal Motion Planning for Range-Based Marine Vehicle positioning in the Presence of Unknown Currents

IFAC-PapersOnLine 2016年第23期49卷 41-47页

作者： Crasta, N. Moreno-Salinas, D. Bayat, M. Pascoal, A.M. Aranda, J. ISR/IST University of Lisbon Lisbon Portugal Department of Computer Science and Automatic Control National Distance Education University Madrid Spain Switzerland

We address the problem of range-based marine vehicle positioning in the presence of unknown but constant ocean currents. The goal is to estimate the position of one or more vehicles from a sequence of range measurements to fixed or moving acoustic beacons with known locations. In contrast to most range-based positioning algorithms, we address the case where the currents are unknown and seek to estimate them explicitly as well. This increases the complexity of the problem at hand and raises interesting observability issues. In particular, the vehicles must undergo sufficiently exciting maneuvers so as to maximize the range-based information available for joint current/multiple vehicle position estimation. The main contribution of the paper is the computation of vehicle trajectories for range-based vehicle positioning system in the presence of constant, unknown currents by maximizing the determinant of a suitable Fisher information matrix (FIM), subject to collision avoidance and maneuvering constraints. A numerical solution is proposed for the general set-up of multiple vehicles and beacons. Analytical solutions are obtained for the case of one vehicle and one static beacon. The efficacy of the strategies proposed for vehicle trajectory optimization is shown by numerical simulations. © 2016

关键词： Maneuverability Aerodynamics Fisher information matrix Motion planning Ocean currents Trajectories Beacon localization Numerical solution Optimal motion planning positioning algorithms Range based Trajectory optimization Vehicle positioning Vehicle trajectories

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Fusing Bluetooth Beacon Data with Wi-Fi Radiomaps for Improved Indoor Localization

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SENSORS 2017年第4期17卷 812-812页

作者： Kanaris, Loizos Kokkinis, Akis Liotta, Antonio Stavrou, Stavros Eindhoven Univ Technol Dept Elect Engn NL-5600 MB Eindhoven Netherlands Open Univ Cyprus Fac Pure & Appl Sci CY-2252 Nicosia Cyprus

Indoor user localization and tracking are instrumental to a broad range of services and applications in the Internet of Things (IoT) and particularly in Body Sensor Networks (BSN) and Ambient Assisted Living (AAL) scenarios. Due to the widespread availability of IEEE 802.11, many localization platforms have been proposed, based on the Wi-Fi Received Signal Strength (RSS) indicator, using algorithms such as K-Nearest Neighbour (KNN), Maximum A Posteriori (MAP) and Minimum Mean Square Error (MMSE). In this paper, we introduce a hybrid method that combines the simplicity (and low cost) of Bluetooth Low Energy (BLE) and the popular 802.11 infrastructure, to improve the accuracy of indoor localization platforms. Building on KNN, we propose a new positioning algorithm (dubbed i-KNN) which is able to filter the initial fingerprint dataset (i. e., the radiomap), after considering the proximity of RSS fingerprints with respect to the BLE devices. In this way, i-KNN provides an optimised small subset of possible user locations, based on which it finally estimates the user position. The proposed methodology achieves fast positioning estimation due to the utilization of a fragment of the initial fingerprint dataset, while at the same time improves positioning accuracy by minimizing any calculation errors.

关键词： indoor positioning indoor localization fingerprint bluetooth low energy (BLE) Internet of Things (IoT) Body Sensor Networks (BSN) positioning algorithms

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High-Resolution Direct Position Determination Using MVDR

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IEEE TRANSACTIONS ON WIRELESS COMMUNICATIONS 2016年第9期15卷 6449-6461页

作者： Tzafri, Liran Weiss, Anthony J. Tel Aviv Univ Sch Elect Engn IL-6997801 Tel Aviv Israel

The direct position determination (DPD) approach is a single-step method, which uses the maximum likelihood estimator to localize sources emitting electromagnetic energy using combined data from all available sensors. The DPD is known to outperform the traditional two-step methods under low signal-to-noise ratio conditions. We propose an improvement to the DPD approach, using the well-known minimum-variance-distortionless-response (MVDR) approach. Unlike maximum likelihood, the number of sources needs not be known before applying the method. The combination of both the direct approach and MVDR yields unprecedented localization accuracy and resolution for weak sources. We demonstrate this approach on the problem of multistatic radar, but the method can easily be extended to general localization problems.

关键词： positioning algorithms adaptive array processing minimum variance distortionless response (MVDR) maximum likelihood estimation direct position determination

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Overview on the development and applications of antenna control systems

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ANNUAL REVIEWS IN CONTROL 2016年 41卷 47-57页

作者： Mulla, A. A. Vasambekar, P. N. Yashwantrao Chavan Coll Sci Dept Elect Karad 415124 India Shivaji Univ Dept Elect Kolhapur 416004 Maharashtra India

During last three decades, the antenna control systems have been extensively developed, studied and applied in several satellite communication systems. While tracking the signal source, these systems play an important role in the alignment of antenna coordinates at receiving end. It is always needed to receive strongest, best quality and environmental effect free signal, transmitted by the transmitter. The speed, accuracy, power;cost and size are the important parameters of antenna control system. The number of control systems implement standard algorithms PI, PD, PID, PIDA, fuzzy, self-tuned fuzzy, LQG, Hos, genetic, neural network and their combinations. Many researchers developed manual, differential, monopulse, electronic, auto-tracking, left-right, conical and step tracking methods to track signal source. In this paper the developments and applications of the antenna control systems are reviewed. The system performances of the implemented standard algorithms and tracking methods in antenna control system are discussed. The simulated and experimental results show that the advancements in algorithms have reduced major issues and increased performance of the systems. The performance is also improved with the combinations of tracking methods and/or algorithms. (C) 2016 International Federation of Automatic Control. Published by Elsevier Ltd. All rights reserved.

关键词： positioning control Tracking control positioning algorithms Antenna robust control Antenna tracking system Antenna positioning system

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Cooperative Surface/Underwater Navigation for AUV Path following missions

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IFAC-PapersOnLine 2016年第23期49卷 355-360页

作者： Nad, Dula Ribeiro, Miguel Silva, Henrique Ribeiro, Jorge Abreu, Pedro Miskovic, Nikola Pascoal, Antonio Faculty of Electrical Engineering and Computing University of Zagreb Zagreb10000 Croatia Portugal

The paper presents acoustic navigation aiding and path following results from demonstration experiments in Lisbon, Portugal. The demonstration was carried out as part of the second year CADDY Review Meeting. The paper presents the concept of the underwater leader, which entails an underwater vehicle, performing a desired task, and a surface vehicle maintaining relative position to improve navigation aiding through acoustics. The surface controller, utilizing the artificial potential field method, is proposed as an alternative to classical tracking and positioning controllers. Even in presence of multiple agents, the controller offers a more “relaxed” tracking and positioning algorithm for autonomous vehicles. The acoustic data-exchange scheme, required to achieve situation awareness of all agents, is described to specify cycle times and delays that have to be taken into account during state estimation. Finally, results from public demonstrations are presented and analyzed both from the surface and underwater perspectives. © 2016

关键词： Underwater acoustics Autonomous agents Controllers Demonstrations Electronic data interchange Mobile robots Multi agent systems Navigation Robots Target tracking Vehicles Acoustic navigation Artificial potential field method Autonomous Vehicles Marine systems Path following positioning algorithms Surface controllers Underwater vehicles

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Comparative Survey of Indoor positioning Technologies, Techniques, and algorithms

Comparative Survey of Indoor Positioning Technologies, Techn...

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International Conference on Cyberworlds (CW)

作者： Al-Ammar, Mai A. Alhadhrami, Suheer Al-Salman, AbdulMalik Alarifi, Abdulrahman Al-Khalifa, Hend S. Alnafessah, Ahmad Alsaleh, Mansour King Saud Univ Dept Comp Sci Riyadh Saudi Arabia King Abdulaziz City Sci & Technol Comp Res Inst Riyadh Saudi Arabia Al Imam Mohammad bin Saud Islamic Univ Dept Comp Sci Riyadh Saudi Arabia

ISBN: (纸本)9781479946778

The user location information represents a core dimension as understanding user context is a prerequisite for providing human-centered services that generally improve quality of life. In comparison with outdoor environments, sensing location information in indoor environments requires a higher precision and is a more challenging task due in part to the expected various objects (such as walls and people) that reflect and disperse signals. In this paper, we survey the related work in the field of indoor positioning by providing a comparative analysis of the state-of-the-art technologies, techniques, and algorithms. Unlike previous studies and surveys, our survey present new taxonomies, review some major recent advances, and argue on the area open problems and future potential. We believe this paper would spur further exploration by the research community of this challenging problem space.

关键词： Indoor positioning localization positioning algorithms survey technologies

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A simple iterative positioning algorithm for client node localization in WLANs

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EURASIP JOURNAL ON WIRELESS COMMUNICATIONS AND NETWORKING 2013年第1期2013卷 1页

作者： Trevisan, Luis M. Pellenz, Marcelo E. Penna, Manoel C. Souza, Richard D. Fonseca, Mauro S. P. Pontifical Catholic Univ Parana PUCPR BR-1155 Curitiba Parana Brazil Fed Univ Technol Parana UTFPR BR-3165 Curitiba Parana Brazil

The ability to determine in real-time the geographic location of client nodes is an important tool in wireless networks, allowing instantaneous mobile tracking, implementation of location-aware services and also efficient channel and power allocation planning. Among existing classical cooperative localization techniques for wireless networks, the maximum likelihood estimator (MLE) is theoretically the best. However, the gradient-based algorithms that are commonly used for maximum likelihood estimation are quite sensitive to the initial values and cannot achieve the theoretical optimal performance. In this paper, we propose a new iterative positioning algorithm based on received signal strength information that employs a location ordering strategy and a numerical nonlinear optimization method. The algorithm performance is evaluated through simulation for different network scenarios. A real wireless network scenario is also implemented in order to demonstrate the algorithm effectiveness. The proposed algorithm, while presenting a simplified implementation, can achieve better positioning estimates than the classical MLE approach based on the conjugated gradient.

关键词： Wireless networks positioning algorithms Received signal strength

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Underground mining intelligent response and rescue systems

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Procedia Earth and Planetary Science 2009年第1期1卷 1044-1053页

作者： Zhang, Ke-fei Zhu, Ming Wang, Yun-jia Fu, Er-jiang Cartwright, William School of Mathematical and Geospatial Sciences RMIT University Melbourne Australia School of Environmental Science and Spatial Informatics China University of Mining and Technology Xuzhou 221116 China

Coal mine industry, which produces the most abundant and widely-distributed fossil fuel, is the deadliest in casualties. A recent report shows that the casualty rates of coal production per million tones are 4.36 in China, 2.14 in Ukraine, 2.03 in Russia, 0.088 in USA and 0.08 in Australia respectively. Consequently, safety is a critical issue for the mining industry, especially for the underground mining companies. The modernization and informatization of mining companies have significantly improved the operational environments (and hence safety) for the underground miners. Some advanced technologies, such as the intelligent response and rescue systems, have contributed significantly to the reduction of mining fatalities and accidents. Typical underground positioning and three dimensional (3D) modelling techniques are discussed in this paper first. A RFID/INS integrated positioning system has been tested to evaluate its performance and different positioning algorithms have been implemented. Experiments show that the simple centre of origin (CoO) positioning algorithm can achieve a positioning accuracy of 7.9 m. The integrated fingerprinting algorithm can achieve 1.7 m accuracy by using an Extended Kalman Filter. A new underground structure modelling method and a collision detecting method are developed. A prototype intelligent response and rescue system has been implemented in Da Zhuang coal mine, China. The results indicate that both the underground positioning technique and the 3D modelling and representing technique developed can satisfy the requirements of underground rescue in an emergency situation. © 2009.

关键词： Three dimensional Cellular radio systems Coal Coal industry Coal mines Cobalt compounds Control theory Fossil fuels Mine rescue Mines Mining Underground structures 3D modelling Advanced technology Australia Casualty rate Coal production Critical issues Detecting methods Emergency situation Fingerprinting algorithm Informatization Integrated positioning system Mining companies Mining fatalities Mining industry Modelling techniques Operational environments positioning accuracy positioning algorithms positioning techniques Rescue systems Three dimensional (3D) Ukraine Underground mining

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A comparative performance evaluation of RSS-based positioning algorithms used in WLAN networks

A comparative performance evaluation of RSS-based positionin...

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IEEE Wireless Communications and Networking Conference

作者： Hatami, A Pahlavan, K Worcester Polytech Inst Ctr Wireless Informat Network Studies Worcester MA USA

ISBN: (纸本)0780389662

Wireless Local Area Network (WLAN) has been an emerging technology in residential and enterprise market by providin- hi-h data rates at low cost. Future trends in WLAN industry are targeted towards new applications with higher data rates, L-h wider coverage, and increased QoS requirements. User tracking system based on WLAN infrastructure is a new service that helps network operators in monitoring different aspects of their networks in addition to providing location aware services to their customers. In this paper, we provide an overview of the traditional location sensing algorithms and compare their performance with the new Distance Variance (DV) algorithm. These algorithms the existing IEEE 802.11 infrastructure to locate a terminal. The newly introduced DV algorithm uses indoor radio propagation models to reduce the complexity of calibration process, used in conventional algorithms. The performances of die existing and new algorithm are compared using Monte Carlo simulations based on IEEE 802.11 channel models.

关键词： indoor radio radio tracking radiowave propagation wireless LAN IEEE 802.11 infrastructure WLAN calibration process distance variance algorithm indoor radio propagation models location aware services location sensing algorithms positioning algorithms rece indoor radio radiowave propagation RADIO TRACKING Data transfer rates algorithms Performance Evaluation

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Covariance shaping least-squares location estimation using TOA measurements

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IEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES 2007年第3期E90A卷 691-693页

作者： Chang, Ann-Chen Chung, Chin-Min Ling Tung Univ Dept Informat Technol Taichung 408 Taiwan Commun Elect & Informat Div Tao Yuan 335 Taiwan

Localization of mobile terminals has received considerable attention in wireless communications. In this letter, we present a covariance shaping least squares (CSLS) estimator using time-of-arrival measurements of the signal from the mobile station received at three or more base stations. It is shown that the CSLS estimator yields better performance than the other LS estimators at low signal-to-noise ratio conditions.

关键词： mobile terminal positioning algorithms time-of-arrival covariance shaping least-squares

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