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Improved Kalman Filtering algorithm Based on Levenberg-Marquart algorithm in Ultra-Wideband Indoor positioning

SENSORS 2024年第22期24卷 7213页

作者： Xie, Changping Fang, Xinjian Yang, Xu Anhui Univ Sci & Technol Sch Geomat Huainan 232001 Peoples R China Key Lab Univ Anhui Prov Prevent Mine Geol Disaster Huainan 232001 Peoples R China

To improve the current indoor positioning algorithms, which have insufficient positioning accuracy, an ultra-wideband (UWB) positioning algorithm based on the Levenberg-Marquardt algorithm with improved Kalman filtering is proposed. An alternative double-sided two-way ranging (ADS-TWR) algorithm is used to obtain the distance from the UWB tag to each base station and calculate the initial position of the tag by the least squares method. The Levenberg-Marquardt algorithm is used to correct the covariance matrix of the Kalman filter, and the improved Kalman filtering algorithm is used to filter the initial position to obtain the final position of the tag. The feasibility and effectiveness of the algorithm are verified by MATLAB simulation. Finally, the UWB positioning system is constructed, and the improved Kalman filter algorithm is experimentally verified in LOS and NLOS environments. The average X-axis and the Y-axis positioning errors in the LOS environment are 6.9 mm and 5.4 mm, respectively, with a root mean square error of 10.8 mm. The average positioning errors for the X-axis and Y-axis in the NLOS environment are 20.8 mm and 18.0 mm, respectively, while the root mean square error is 28.9 mm. The experimental results show that the improved algorithm has high accuracy and good stability. At the same time, it can effectively improve the convergence speed of the Kalman filter.

关键词： Kalman filter UWB least square method Levenberg-Marquardt algorithm positioning algorithm

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An Artificial Plant Community algorithm for the Accurate Range-Free positioning of Wireless Sensor Networks

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SENSORS 2023年第5期23卷 2804-2804页

作者： Cai, Zhengying Jiang, Shan Dong, Jiahuizi Tang, Sijia China Three Gorges Univ Coll Comp & Informat Technol Yichang 443002 Peoples R China

The problem of positioning wireless sensor networks is an important and challenging topic in all walks of life. Inspired by the evolution behavior of natural plant communities and traditional positioning algorithms, a novel positioning algorithm based on the behavior of artificial plant communities is designed and presented here. First, a mathematical model of the artificial plant community is established. Artificial plant communities survive in habitable places rich in water and nutrients, offering the best feasible solution to the problem of positioning a wireless sensor network;otherwise, they leave the non-habitable area, abandoning the feasible solution with poor fitness. Second, an artificial plant community algorithm is presented to solve the positioning problems encountered in a wireless sensor network. The artificial plant community algorithm includes three basic operations, namely seeding, growing, and fruiting. Unlike traditional artificial intelligence algorithms, which always have a fixed population size and only one fitness comparison per iteration, the artificial plant community algorithm has a variable population size and three fitness comparisons per iteration. After seeding by an original population size, the population size decreases during growth, as only the individuals with high fitness can survive, while the individuals with low fitness die. In fruiting, the population size recovers, and the individuals with higher fitness can learn from each other and produce more fruits. The optimal solution in each iterative computing process can be preserved as a parthenogenesis fruit for the next seeding operation. When seeding again, the fruits with high fitness can survive and be seeded, while the fruits with low fitness die, and a small number of new seeds are generated through random seeding. Through the continuous cycle of these three basic operations, the artificial plant community can use a fitness function to obtain accurate solutions to positioni

关键词： wireless sensor networks positioning algorithm Internet of Things artificial intelligence artificial plant community

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A Novel Electromagnetic positioning Prototype System With Simplified Receiver for Interventional Surgery Application

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IEEE INTERNET OF THINGS JOURNAL 2023年第11期10卷 9753-9767页

作者： Zhong, Peijun Zhao, Jianhui Yuan, Zhiyong Zhao, Wenyuan Zhang, Tingbao Feng, Yu Wuhan Univ Sch Comp Sci Wuhan 430072 Hubei Peoples R China Univ Chinese Acad Sci Hangzhou Inst Advanced Study Hangzhou 310013 Zhejiang Peoples R China Wuhan Univ Zhongnan Hosp Wuhan 430072 Hubei Peoples R China

To meet the need of 3-D positioning of surgical instrument in interventional surgery and the requirement of smaller size sensor for the narrow blood vessels, a new electromagnetic positioning model is proposed with a simplified receiver. Based on the electromagnetic theory and geometry principle, the electromagnetic field transmitter with groups of three orthogonal coils and the simplified receiver with a smaller size than existing sensors are designed. Then, using the Biot-Savart law, the distance between receiving end and geometric center of orthogonal coils is calculated, and the spatial coordinate of receiving end is computed with the spherical intersection formula. To further reduce the positioning error, a two-round accuracy improvement algorithm is designed for selecting the optimal topology of coil groups at the transmitter end and fitting correction of the calculated distance. We implement the prototype system and perform both simulation experiments and actual experiments. The results show that our proposed new electromagnetic positioning method with a simplified receiver has higher accuracy and stronger stability, compared with the traditional positioning approach of three-coil transmitter and three-coil receiver.

关键词： Coils Electromagnetics Surgery Receivers Magnetosphere Ion radiation effects Optical transmitters Accuracy improvement electromagnetic positioning intervention surgery orthogonal coils positioning algorithm

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Application of wireless sensor network based improved immune gene algorithm in airport floating personnel positioning

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COMPUTER COMMUNICATIONS 2020年 160卷 494-501页

作者： Liu, Hean Ki, Kim Yong Hunan City Univ Coll Sci Yiyang 413000 Hunan Peoples R China Sehan Univ Grad Sch Mokpo 58613 South Korea

Based on wireless sensor network(WSN) and the moving characteristics of airport passengers, this paper presents an improved WSN algorithm for airport passenger positioning. M first, this research bases on wireless sensor network. Then, the improved WSN algorithm is optimized and solved. Finally, the simulation data of airport passengers is tested. The result shows that the algorithm is superior to traditional. It has more accurate positioning, can meet the need of positioning for public places with high passenger flow rate like airports, and thus is of practical value.

关键词： Improved WSN algorithm Personnel positioning Node number positioning algorithm

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Implementing an Industry 4.0 UWB-Based Real-Time Locating System for Optimized Tracking

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APPLIED SCIENCES-BASEL 2025年第5期15卷 2689-2689页

作者： Sidiropoulos, Athanasios Bechtsis, Dimitrios Vlachos, Dimitrios Aristotle Univ Thessaloniki AUTH Sch Mech Engn Dept Ind Management Lab Stat & Quantitat Anal Methods LASCM Thessaloniki 54124 Greece Int Hellen Univ Dept Ind Engn & Management Thessaloniki 57001 Greece

The Internet of Things (IoT) provides technical solutions for monitoring assets in facility layouts, and this is further strengthened by the development of sophisticated software tools for intralogistics operations. The present research provides a taxonomy for the existing tracking technologies and a comparison matrix for supporting decision making when selecting the most suitable technology for real-time tracking in indoor areas. Although numerous tracking technologies exist, ultra-wideband (UWB) technology has gained significant attention in recent years due to its exceptional positioning accuracy and its ability to operate effectively in challenging environments with numerous obstacles, even under non-line-of-sight (NLOS) conditions. Specifically, this research focuses on a real-time location system (RTLS) that is designed and implemented to monitor assets based on UWB technology. Additionally, a new algorithm is introduced to reduce localization errors by attempting to exclude NLOS measurements from the tag's position calculations. The experiments showcased that the proposed algorithm improves the overall positioning error by 24%, reporting an RMSE of 0.124 m in comparison to the 0.163 m of the normal trilateration method. The experimental results highlight the efficiency of the proposed solution for fast and accurate localization and tracking in real-world environments.

关键词： real-time locating system indoor positioning system ultra-wideband DWM1000 positioning algorithm

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algorithms to reduce the edge effect and improve the flood histogram quality of a PET detector consisting of two pixelated crystal arrays

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MEDICAL PHYSICS 2025年第2期52卷 856-866页

作者： Cong, Longhan Kuang, Zhonghua Ren, Ning Sang, Ziru Liu, Zheng Niu, Ming Xie, Siwei Peng, Qiyu Yang, Yongfeng Chinese Acad Sci Shenzhen Inst Adv Technol Paul C Lauterbur Res Ctr Biomed Imaging Shenzhen 518055 Peoples R China Shenzhen Bay Lab Inst Biomed Engn Shenzhen Peoples R China Xiangnan Univ Sch Phys & Elect Elect Engn Microelect & Optoelect Technol Key Lab Hunan Highe Chenzhou Peoples R China

PurposeThe performance of detectors is key for a PET scanner to achieve high spatial resolution and high sensitivity. This work aims to develop flood histogram generating algorithms to reduce the edge effect and improve the crystal identification of a PET detector consisting of two optically coupled pixelated scintillator *** PET detector consists of two optically coupled detectors, each consisting of a 23x23 LYSO crystal array with a crystal size of 1.0x1.0x20 mm3 read out by an 8x8 SiPM array with a pixel size of 3.0x3.0 mm2. The SiPM array is read out with a resistor network circuit to obtain four position encoding energy signals. A novel center of gravity (COG) positioning algorithm using six signals from the two detectors was proposed and compared to the traditional COG algorithms using either four or eight signals from the detectors. The raised-to-the-power (RTP) method was applied to the three COG algorithms for the PET detector. Different powers of the RTP from 1.0 to 2.5 were *** proposed COG algorithm significantly improves the crystal identification at the junction of the two detectors as compared to the COG algorithm using four signals of each detector, and improves the crystal identification at the center of the two detectors as compared to the COG algorithm using eight signals from both detectors. The RTP method significantly improves the overall flood histogram qualities of the two COG algorithms using either eight or six signals from the two detectors, and the two COG algorithm provide similar flood histogram quality when a power of 1.5 is *** novel positioning algorithms reduce the edge effect and improve the flood histogram quality for a PET detector consisting of two optically coupled detectors, each consisting of a pixelated scintillator crystal array and a SiPM array with highly multiplexed four signal readout. The positioning algorithms can be used in a PET scanner to improve the spatial resoluti

关键词： edge effect flood histogram positioning algorithm positron emission tomography

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Real-time implementation of camera positioning algorithm based on FPGA & SOPC 7

Real-time implementation of camera positioning algorithm bas...

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7th International Symposium on Advanced Optical Manufacturing and Testing Technologies (AOMATT) - Optical Test and Measurement Technology and Equipment

作者： Yang Mingcao Qiu Yuehong Chinese Acad Sci Xian Inst Opt & Precis Mech Xian 710119 Peoples R China Univ Chinese Acad Sci Beijing 100049 Peoples R China

ISBN: (纸本)9781628413571

In recent years, with the development of positioning algorithm and FPGA, to achieve the camera positioning based on real-time implementation, rapidity, accuracy of FPGA has become a possibility by way of in-depth study of embedded hardware and dual camera positioning system, this thesis set up an infrared optical positioning system based on FPGA and SOPC system, which enables real-time positioning to mark points in space. Thesis completion include: (1) uses a CMOS sensor to extract the pixel of three objects with total feet, implemented through FPGA hardware driver, visible-light LED, used here as the target point of the instrument. (2) prior to extraction of the feature point coordinates, the image needs to be filtered to avoid affecting the physical properties of the system to bring the platform, where the median filtering. (3) Coordinate signs point to FPGA hardware circuit extraction, a new iterative threshold selection method for segmentation of images. Binary image is then segmented image tags, which calculates the coordinates of the feature points of the needle through the center of gravity method. (4) direct linear transformation (DLT) and extreme constraints method is applied to three-dimensional reconstruction of the plane array CMOS system space coordinates. using SOPC system on a chip here, taking advantage of dual-core computing systems, which let match and coordinate operations separately, thus increase processing speed.

关键词： positioning algorithm Feature point extraction Match point mark

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The Optimization of RSSI-Neural network positioning algorithm 4

The Optimization of RSSI-Neural network positioning algorith...

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4th International Conference on Instrumentation and Measurement, Computer, Communication and Control (IMCCC)

作者： Zhang Xuhui Gao Baojiang Liu Yukun Wang Juan Chang Huimin Harbin Univ Sci & Technol Higher Educ Key Lab Measuring & Control Technol & Harbin Peoples R China

ISBN: (纸本)9781479965755

This paper optimized the RSSI neural network positioning algorithm. In-depth analysis of the principles of the Kalman filter and using the Kalman filter to filter the Received Signal Strength Indicator (RSSI) value. Analysis the structure of back propagation neural network and optimized the structure of the RSSI-neural network algorithm. MATLAB simulation verified the optimization algorithm has higher accuracy and more robustness.

关键词： RSSI BP BP neural network Kalman filter positioning algorithm

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A node positioning method for IoT based on LSSVR and optimized particle swarm algorithm

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INTERNET TECHNOLOGY LETTERS 2022年第3期5卷

作者： Zhang, Yang Zhao, Kaixin Ren, Gang Zhu, Mingdong Henan Inst Technol Dept Comp Sci & Technol Xinxiang 453003 Henan Peoples R China

Aiming at the problem that the optimal parameters of the least square support vector regression (LSSVR) localization model in Internet of Things (IoT) are difficult to determine, a positioning method based on the improved particle swarm optimization (PSO) algorithm is proposed. First, the positioning model is constructed by LSSVR, then the PSO algorithm is improved by adaptively adjusting the inertia weights and the learning factors, and finally the improved PSO algorithm is used to search the optimal parameters of the LSSVR positioning model, which avoids the blindness of the parameter search. The simulation results show that the positioning accuracy of the proposed algorithm is improved by 25.9% and 19.7%, respectively, compared with the LSSVR and PSO-LSSVR algorithms, and has better positioning stability and real-time performance.

关键词： IoT LSSVR positioning algorithm PSO

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Research and Implementation of Bluetooth AOA Indoor positioning System 8

Research and Implementation of Bluetooth AOA Indoor Position...

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8th International Conference on Data Science in Cyberspace, DSC 2023

作者： Xiao, Kun Hao, Fuzhong Zhang, Weijian Li, Nuannuan Zhi, Haiyan Wang, Yintao University of Electronic Science and Technology Chengdu China State Grid Henan Electric Power Company Zhengzhou China

ISBN: (纸本)9798350331035

With the continuous updates, iterations, and promotion of Bluetooth standard specifications, Bluetooth has filled many gaps in existing indoor positioning technologies with its comprehensive technical specifications, rich application ecosystem, and a series of advantages such as low power consumption and low cost in hardware. Especially after the introduction of ADA/AOD direction finding technology in the Bluetooth 5.1 protocol specification, Bluetooth positioning can achieve high accuracy at the sub-meter level. Therefore, Bluetooth-based indoor positioning has become a current research hotspot and an important future development trend. However, there is currently relatively limited research and application of positioning algorithms and positioning systems based on Bluetooth, and there is no standardized set of positioning algorithms and positioning systems. Therefore, this paper proposes research and design on Bluetooth AOA positioning algorithm and Bluetooth AOA indoor positioning system. Through testing in actual indoor scenarios, the algorithm has been validated to achieve sub-meter positioning accuracy, and the entire positioning system has successfully completed the entire process from deployment to application demonstration. © 2023 IEEE.

关键词： bluetooth AOA (Angle of Arrival) indoor positioning positioning algorithm positioning system

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