85 research outputs found
A Hybrid Indoor Location Positioning System
Indoor location positioning techniques have experienced impressive growth in recent years. A wide range of indoor positioning algorithms has been developed for various applications. In this work a practical indoor location positioning technique is presented which utilizes off-the-shelf smartphones and low-cost Bluetooth Low Energy (BLE) nodes without any further infrastructure. The method includes coarse and fine modes of location positioning. In the coarse mode, the received signal strength (RSS) of the BLE nodes is used for location estimation while in the fine acoustic signals are utilized for accurate positioning. The system can achieve centimeter-level positioning accuracy in its fine mode. To enhance the system’s performance in noisy environments, two digital signal processing (DSP) algorithms of (a) band-pass filtering with audio pattern recognition and (b) linear frequency modulated chirp signal with matched filter are implemented. To increase the system’s robustness in dense multipath environments, a method using data clustering with sliding window is employed. The received signal strength of BLE nodes is used as an auxiliary positioning method to identify the non-line-of-sight (NLoS) propagation paths in the acoustic positioning mode. Experimental measurement results in an indoor area of 10 m2 indicate that the positioning error falls below 6 cm
A Review of Radio Frequency Based Localization for Aerial and Ground Robots with 5G Future Perspectives
Efficient localization plays a vital role in many modern applications of
Unmanned Ground Vehicles (UGV) and Unmanned aerial vehicles (UAVs), which would
contribute to improved control, safety, power economy, etc. The ubiquitous 5G
NR (New Radio) cellular network will provide new opportunities for enhancing
localization of UAVs and UGVs. In this paper, we review the radio frequency
(RF) based approaches for localization. We review the RF features that can be
utilized for localization and investigate the current methods suitable for
Unmanned vehicles under two general categories: range-based and fingerprinting.
The existing state-of-the-art literature on RF-based localization for both UAVs
and UGVs is examined, and the envisioned 5G NR for localization enhancement,
and the future research direction are explored
Ultra-wideband Based Indoor Localization of Mobile Nodes in ToA and TDoA Configurations
Zandian R. Ultra-wideband Based Indoor Localization of Mobile Nodes in ToA and TDoA Configurations. Bielefeld: Universität Bielefeld; 2019.This thesis discusses the utilization of ultra-wideband (UWB) technology in indoor localization scenarios and proposes system setup and evaluates different localization algorithms in order to improve the localization accuracy and stability of such systems in non-ideal conditions of the indoor environment.
Recent developments and advances of technology in the areas of ubiquitous Internet, robotics and internet of things (IoT) have resulted in emerging new application areas in daily life in which localization systems are vital. The significant demand for a robust and accurate localization system that is applicable in indoor areas lacking satellites link, can be sensed. The UWB technology offers accurate localization systems with an accuracy of below 10 cm and covering the range of up to a few hundred meters thanks to their dedicated large bandwidth, modulation technique and signal power.
In this thesis, the technology behind the UWB systems is discussed in detail. In terms of localization topologies, different scenarios with the focus on time-based methods are introduced. The main focus of this thesis is on the differential time of arrival localization systems (TDoA) with unilateral constellation that is suitable for robotic localization and navigation applications.
A new approach for synchronization of TDoA topology is proposed and influence of clock inaccuracies in such systems are thoroughly evaluated. For localization engine, two groups of static and dynamic iterative algorithms are introduced. Among the possible dynamic methods, extended Kalman filter (EKF), H∞ and unscented Kalman filter (UKF) are discussed and meticulously evaluated.
In order to tackle the non-line of sight (NLOS) problem of such systems, for detection stage several solutions which are based on parametric machine learning methods are proposed. Furthermore, for mitigation phase two solutions namely adjustment of measurement variance and innovation term are suggested. Practical results prove the efficiency and high reliability of the proposed algorithms with positive NLOS condition detection rate of more than 87%.
In practical trials, the localization system is evaluated in indoor and outdoor arenas in both line of sight and non-line of sight conditions. The results show that the proposed detection and mitigation methods can be successfully applied for both small and large-scale arenas with the higher performance of the localization filters in terms of accuracy in large-scale scenarios
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Wireless indoor localisation within the 5G internet of radio light
This thesis was submitted for the award of Doctor of Philosophy and was awarded by Brunel University LondonNumerous applications can be enhanced by accurate and efficient indoor localisation using wireless
sensor networks, however trade-offs often exist between these two parameters. In this thesis, realworld
and simulation data is used to examine the hybrid millimeter wave and Visible Light
Communications (VLC) architecture of the 5G Internet of Radio Light (IoRL) Horizon 2020 project.
Consequently, relevant localisation challenges within Visible Light Positioning (VLP) and asynchronous
sampling networks are identified, and more accurate and efficient solutions are developed.
Currently, VLP relies strongly on the assumed Lambertian properties of light sources.
However, in practice, not all lights are Lambertian. To support the widespread deployment of VLC
technology in numerous environments, measurements from non-Lambertian sources are analysed to
provide new insights into the limitations of existing VLP techniques. Subsequently, a novel VLP
calibration technique is proposed, and results indicate a 59% accuracy improvement against existing
methods. This solution enables high accuracy centimetre level VLP to be achieved with non-
Lambertian sources.
Asynchronous sampling of range-based measurements is known to impact localisation
performance negatively. Various Asynchronous Sampling Localisation Techniques (ASLT) exist to
mitigate these effects. While effective at improving positioning performance, the exact suitability of
such solutions is not evident due to their additional processes, subsequent complexity, and increased
costs. As such, extensive simulations are conducted to study the effectiveness of ASLT under variable
sampling latencies, sensor measurement noise, and target trajectories. Findings highlight the
computational demand of existing ASLT and motivate the development of a novel solution. The
proposed Kalman Extrapolated Least Squares (KELS) method achieves optimal localisation
performance with a significant energy reduction of over 50% when compared to current leading ASLT.
The work in this thesis demonstrates both the capability for high performance VLP from non-
Lambertian sources as well as the potential for energy efficient localisation for sequentially sampled
range measurements.Horizon 202
Realization Limits of Impulse-Radio UWB Indoor Localization Systems
In this work, the realization limits of an impulse-based Ultra-Wideband (UWB) localization system for indoor applications have been thoroughly investigated and verified by measurements. The analysis spans from the position calculation algorithms, through hardware realization and modeling, up to the localization experiments conducted in realistic scenarios. The main focus was put on identification and characterization of limiting factors as well as developing methods to overcome them
Desenvolvimento de metodologias para localização indoor de smartphones com exatidão ao centÃmetro
Doutoramento em Engenharia ElectrotécnicaThis thesis describes the design and implementation of a reliable
centimeter-level indoor positioning system fully compatible with a conventional
smartphone. The proposed system takes advantage of the
smartphone audio I/O and processing capabilities to perform acoustic
ranging in the audio band using non-invasive audio signals and it has
been developed having in mind applications that require high accuracy,
such as augmented reality, virtual reality, gaming and audio guides. The
system works in a distributed operation mode, i.e. each smartphone is
able to obtain its own position using only acoustic signals. To support
the positioning system, a Wireless Sensor Network (WSN) of synchronized
acoustic beacons is used. To keep the infrastructure in sync we
have developed an Automatic Time Synchronization and Syntonization
(ATSS) protocol with a standard deviation of the sync offset error below
1.25 μs. Using an improved Time Difference of Arrival (TDoA) estimation
approach (which takes advantage of the beacon signals’ periodicity)
and by performing Non-Line-of-Sight (NLoS) mitigation, we were
able to obtain very stable and accurate position estimates with an absolute
mean error of less than 10 cm in 95% of the cases and a mean
standard deviation of 2.2 cm for a position refresh period of 350 ms.Esta tese descreve o projeto e a implementação de um sistema de
localização para ambientes interiores totalmente compatÃvel com um
smartphone convencional. O sistema proposto explora a capacidade
de aquisição de sinais áudio e de processamento do smartphone para
medir distâncias utilizando sinais acústicos na banda do audÃvel; foram
utilizados sinais áudio não-invasivos, i.e. com reduzido impacto perceptual
em humanos. No desenvolvimento deste sistema foram consideradas
aplicações que exigem elevada exatidão, na ordem dos centÃmetros,
tais como realidade aumentada, realidade virtual, jogos ou
guias virtuais. Utilizou-se uma infraestrutura de faróis de baixo custo
suportada por uma rede de sensores sem fios (RSSF). Para manter
a infraestrutura sÃncrona, foi desenvolvido um protocolo de sincronização
e sintonização automática, (Automatic Time Synchronization and
Syntonization - ATSS) que garante um desvio padrão do erro de offset
abaixo de 1.25 μs. Cada smartphone efectua medidas MT-TDoA
que posteriormente são utilizadas pelo algoritmo de localização hiperbólica.
As estimativas de posição resultantes são estáveis e precisas,
com um erro médio absoluto menor do que 10 cm em 95% dos casos
e um desvio padrão médio de 2.2 cm, para um perÃodo de atualização
de posição de 350 ms
A Review of Radio Frequency Based Localisation for Aerial and Ground Robots with 5G Future Perspectives
Efficient localisation plays a vital role in many modern applications of Unmanned Ground Vehicles (UGV) and Unmanned Aerial Vehicles (UAVs), which contributes to improved control, safety, power economy, etc. The ubiquitous 5G NR (New Radio) cellular network will provide new opportunities to enhance the localisation of UAVs and UGVs. In this paper, we review radio frequency (RF)-based approaches to localisation. We review the RF features that can be utilized for localisation and investigate the current methods suitable for Unmanned Vehicles under two general categories: range-based and fingerprinting. The existing state-of-the-art literature on RF-based localisation for both UAVs and UGVs is examined, and the envisioned 5G NR for localisation enhancement, and the future research direction are explored
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