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16th Workshop on positioning, Navigation and Communications (WPNC)

作者： Sang, Cung Lian Adams, Michael Hesse, Marc Hoermann, Timm Korthals, Timo Rueckert, Ulrich Bielefeld Univ CITEC Cognitron & Sensor Syst Grp Bielefeld Germany

ISBN: (纸本)9781728120829

In this paper, we analyze five true-range positioning algorithms for UWB-based localization systems. The evaluated algorithms are: (i) trilateration using a geometric method, (ii) a closed-form multilateration solution using least squares, (iii) an iterative approach using first-order Taylor series, a recursive solution based on (iv) the Extended Kalman Filter (EKF), and (v) the Unscented Kalman Filter (UKF). In contrast to the existing comparative studies in literature, which are solely based on simulation results, our analysis is based on experimental evaluations. The evaluated algorithms are strictly chosen for a scenario, where a true-range multilateration method is applicable. True-range means the accuracy of the measured ranges is not influenced by the clock drift errors. The performance comparison of the five algorithms is examined and discussed in the paper.

关键词： comparative study comparative review true-range positioning algorithm performance comparison UWB trilateration multilateration Taylor series EKF UKF Kalman

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Design and algorithm Research of Indoor Underwater Target positioning System

Design and Algorithm Research of Indoor Underwater Target Po...

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10th International Conference on Sensing Technology (ICST)

作者： Zang Yunge Chen Xiyuan Southeast Univ Sch Instrument Sci & Engn Nanjing Jiangsu Peoples R China

ISBN: (纸本)9781509007967

The main work of this paper is proposed an indoor underwater target positioning system and an improved positioning algorithm. The principle of the system is based on the underwater acoustic positioning method for marine positioning. In addition, the structure of the system and the positioning algorithm are improved for the indoor underwater fixed target. The system is based on the short-baseline principle, combined with an ultrasonic transducer, three hydrophones, and a water depth meter to compose an improved short-baseline array, which is used to locate the underwater target. And the artificial bee colony algorithm is used to deal with the distance information. Then the nonlinear optimization problem is solved, and the positioning accuracy of the system is improved. In this paper, the hardware structure, the positioning principle and the positioning algorithm are discussed. The experimental results show that the underwater target positioning system has the advantages of high precision and high stability, and the performance of the algorithm is obviously better than that of other algorithms.

关键词： underwater acoustic positioning system short baseline principle artificial bee colony 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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Improved Kalman Filtering algorithm Based on Levenberg-Marquart algorithm in Ultra-Wideband Indoor positioning

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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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BDS/GPS Dual Systems positioning Based on the Modified SR-UKF algorithm

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SENSORS 2016年第5期16卷 635-635页

作者： Kong, JaeHyok Mao, Xuchu Li, Shaoyuan Shanghai Jiao Tong Univ Sch Elect Informat & Elect Engn 800 Dongchuan St Shanghai 200240 Peoples R China

The Global Navigation Satellite System can provide all-day three-dimensional position and speed information. Currently, only using the single navigation system cannot satisfy the requirements of the system's reliability and integrity. In order to improve the reliability and stability of the satellite navigation system, the positioning method by BDS and GPS navigation system is presented, the measurement model and the state model are described. Furthermore, the modified square-root Unscented Kalman Filter (SR-UKF) algorithm is employed in BDS and GPS conditions, and analysis of single system/multi-system positioning has been carried out, respectively. The experimental results are compared with the traditional estimation results, which show that the proposed method can perform highly-precise positioning. Especially when the number of satellites is not adequate enough, the proposed method combine BDS and GPS systems to achieve a higher positioning precision.

关键词： Global Navigation Satellite System (GNSS) positioning algorithm modified square-root Unscented Kalman filter (modified SR-UKF) BeiDou navigation System (BDS)

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Implementation of Least Squares algorithm Based on Dynamic Threshold in Beidou Satellite positioning

Implementation of Least Squares Algorithm Based on Dynamic T...

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Image Processing, Electronics and Computers (IPEC), Asia-Pacific Conference on

作者： Guoping Lei Xiuying Luo Zhiyuan Liu Minlu Dai School of Electronic & information Engineering Chongqing Three Gorges University Chongqing Wanzhou China

ISBN: (数字)9781728160672

ISBN: (纸本)9781728160689

At present, China's Beidou Navigation Satellite System (BDS) has been successfully applied in all walks of life, entering a period of rapid development. The least squares algorithm is often used to solve problems in the application of BDS, while the quaternary nonlinear equation set is used for solving the positioning and timing issues. The application of least square algorithm in the PVT solution of Beidou satellite navigation is to solve a set of quaternion nonlinear equations. The solution of the least squares is an iterative process, but if the convergence threshold is too small in the iterative process, it may lead to iteration without convergence. In order to improve the failure of convergence caused by too small convergence threshold in the original algorithm, a least squares algorithm based on dynamic threshold was proposed in this paper. The proposed algorithm could continue iteration until convergence by increasing the system's dynamic threshold. At the same time, the proposed algorithm could also change the satellite combination in time, so as to conduct the positioning and calculation again over the threshold value that increases to a fixed value but fails to converge. And the simulation results show that if the threshold is set too small, it can converge well. As a result, the algorithm not only effectively prevents the program failure in Beidou satellite positioning caused by the convergence failure of algorithm iteration, but also greatly improves the stability and reliability of the system program operation.

关键词： eidou satellite positioning algorithm least squares algorithm dynamic threshold convergence Converge least squares algorithm iterative methods Iterative Process algorithms Patient positioning System of equations Least squares method

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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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A Study on the Application of WSN positioning Technology to Unattended Areas

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IEEE ACCESS 2019年 7卷 38085-38099页

作者： Lv, Yanhui Liu, Yong Hua, Jiangfeng Shenyang Ligong Univ Coll Informat Sci & Engn Shenyang 110159 Liaoning Peoples R China

Wireless sensor network (WSN) is a kind of self-organized network that plays a critical role in the rescue and relief work of some unattended areas in recent years. With the application background of unattended areas, a positioning algorithm with high accuracy and coverage in the WSN is presented in this paper. First, in view of the complicated environment in unattended areas and demand for accurate positioning, this paper focuses on the ranging-based positioning technology, introduces double-hop ranging in the Euclidean algorithm into the 3D ranging process at the node, and proposes 3DL positioning algorithm on this basis. This proposed algorithm is able to achieve 3D positioning of network nodes and effectively enlarge the network positioning coverage by upgrading the positioned node with adequate accuracy to proxy anchor. Second, since unattended areas are mostly non-line-of-sight (NLOS) environments and node positioning accuracy is affected by NOLS factors, a 3DL-N positioning algorithm is proposed by introducing the way of making up for node positioning error based on the 3DL algorithm. The algorithm makes use of the relative positioning function of anchors to figure out the ranging correction parameter and node positioning error compensation value and adds it to the positioning process of the common to further improve its positioning accuracy. Finally, the simulation results indicate that the positioning algorithm proposed in this paper enjoys significant strengths in terms of positioning accuracy and coverage on the premise of consuming no higher node energy.

关键词： positioning accuracy positioning algorithm wireless sensor network (WSN)

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Subjective Evaluation of Three Headphone-Based Virtual Sound Source positioning Methods Including Differential Head-Related Transfer Function

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ARCHIVES OF ACOUSTICS 2016年第3期41卷 437-447页

作者： Storek, Dominik Rund, Frantisek Marsalek, Petr Czech Tech Univ Dept Radioelect Tech 2 Prague 16627 Czech Republic

This paper analyses the performance of Differential Head-Related Transfer Function (DHRTF), an alternative transfer function for headphone-based virtual sound source positioning within a horizontal plane. This experimental one-channel function is used to reduce processing and avoid timbre affection while preserving signal features important for sound localisation. The use of positioning algorithm employing the DHRTF is compared to two other common positioning methods: amplitude panning and HRTF processing. Results of theoretical comparison and quality assessment of the methods by subjective listening tests are presented. The tests focus on distinctive aspects of the positioning methods: spatial impression, timbre affection, and loudness fluctuations. The results show that the DHRTF positioning method is applicable with very promising performance;it avoids perceptible channel coloration that occurs within the HRTF method, and it delivers spatial impression more successfully than the simple amplitude panning method.

关键词： virtual positioning virtual reality positioning method positioning algorithm head-related transfer function amplitude panning

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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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