4,192 research outputs found
Position and Orientation Estimation through Millimeter Wave MIMO in 5G Systems
Millimeter wave signals and large antenna arrays are considered enabling
technologies for future 5G networks. While their benefits for achieving
high-data rate communications are well-known, their potential advantages for
accurate positioning are largely undiscovered. We derive the Cram\'{e}r-Rao
bound (CRB) on position and rotation angle estimation uncertainty from
millimeter wave signals from a single transmitter, in the presence of
scatterers. We also present a novel two-stage algorithm for position and
rotation angle estimation that attains the CRB for average to high
signal-to-noise ratio. The algorithm is based on multiple measurement vectors
matching pursuit for coarse estimation, followed by a refinement stage based on
the space-alternating generalized expectation maximization algorithm. We find
that accurate position and rotation angle estimation is possible using signals
from a single transmitter, in either line-of- sight, non-line-of-sight, or
obstructed-line-of-sight conditions.Comment: The manuscript has been revised, and increased from 27 to 31 pages.
Also, Fig.2, Fig. 10 and Table I are adde
Glottal-synchronous speech processing
Glottal-synchronous speech processing is a field of speech science where the pseudoperiodicity
of voiced speech is exploited. Traditionally, speech processing involves segmenting
and processing short speech frames of predefined length; this may fail to exploit the inherent
periodic structure of voiced speech which glottal-synchronous speech frames have
the potential to harness. Glottal-synchronous frames are often derived from the glottal
closure instants (GCIs) and glottal opening instants (GOIs).
The SIGMA algorithm was developed for the detection of GCIs and GOIs from
the Electroglottograph signal with a measured accuracy of up to 99.59%. For GCI and
GOI detection from speech signals, the YAGA algorithm provides a measured accuracy
of up to 99.84%. Multichannel speech-based approaches are shown to be more robust to
reverberation than single-channel algorithms.
The GCIs are applied to real-world applications including speech dereverberation,
where SNR is improved by up to 5 dB, and to prosodic manipulation where the importance
of voicing detection in glottal-synchronous algorithms is demonstrated by subjective
testing. The GCIs are further exploited in a new area of data-driven speech modelling,
providing new insights into speech production and a set of tools to aid deployment into
real-world applications. The technique is shown to be applicable in areas of speech coding,
identification and artificial bandwidth extension of telephone speec
Sound Based Positioning
With a growing interest in non-GPS positioning, navigation, and timing (PNT), sound based positioning provides a precise way to locate both sound sources and microphones through audible signals of opportunity (SoOPs). Exploiting SoOPs allows for passive location estimation. But, attributing each signal to a specific source location when signals are simultaneously emitting proves problematic. Using an array of microphones, unique SoOPs are identified and located through steered response beamforming. Sound source signals are then isolated through time-frequency masking to provide clear reference stations by which to estimate the location of a separate microphone through time difference of arrival measurements. Results are shown for real data
Acoustical Ranging Techniques in Embedded Wireless Sensor Networked Devices
Location sensing provides endless opportunities for a wide range of applications in GPS-obstructed environments;
where, typically, there is a need for higher degree of accuracy. In this article, we focus on robust range
estimation, an important prerequisite for fine-grained localization. Motivated by the promise of acoustic in
delivering high ranging accuracy, we present the design, implementation and evaluation of acoustic (both
ultrasound and audible) ranging systems.We distill the limitations of acoustic ranging; and present efficient
signal designs and detection algorithms to overcome the challenges of coverage, range, accuracy/resolution,
tolerance to Doppler’s effect, and audible intensity. We evaluate our proposed techniques experimentally on
TWEET, a low-power platform purpose-built for acoustic ranging applications. Our experiments demonstrate
an operational range of 20 m (outdoor) and an average accuracy 2 cm in the ultrasound domain. Finally,
we present the design of an audible-range acoustic tracking service that encompasses the benefits of a near-inaudible
acoustic broadband chirp and approximately two times increase in Doppler tolerance to achieve better performance
Fully automated urban traffic system
The replacement of the driver with an automatic system which could perform the functions of guiding and routing a vehicle with a human's capability of responding to changing traffic demands was discussed. The problem was divided into four technological areas; guidance, routing, computing, and communications. It was determined that the latter three areas being developed independent of any need for fully automated urban traffic. A guidance system that would meet system requirements was not being developed but was technically feasible
Localization, Mapping and SLAM in Marine and Underwater Environments
The use of robots in marine and underwater applications is growing rapidly. These applications share the common requirement of modeling the environment and estimating the robots’ pose. Although there are several mapping, SLAM, target detection and localization methods, marine and underwater environments have several challenging characteristics, such as poor visibility, water currents, communication issues, sonar inaccuracies or unstructured environments, that have to be considered. The purpose of this Special Issue is to present the current research trends in the topics of underwater localization, mapping, SLAM, and target detection and localization. To this end, we have collected seven articles from leading researchers in the field, and present the different approaches and methods currently being investigated to improve the performance of underwater robots
Symphony: Localizing Multiple Acoustic Sources with a Single Microphone Array
Sound recognition is an important and popular function of smart devices. The
location of sound is basic information associated with the acoustic source.
Apart from sound recognition, whether the acoustic sources can be localized
largely affects the capability and quality of the smart device's interactive
functions. In this work, we study the problem of concurrently localizing
multiple acoustic sources with a smart device (e.g., a smart speaker like
Amazon Alexa). The existing approaches either can only localize a single
source, or require deploying a distributed network of microphone arrays to
function. Our proposal called Symphony is the first approach to tackle the
above problem with a single microphone array. The insight behind Symphony is
that the geometric layout of microphones on the array determines the unique
relationship among signals from the same source along the same arriving path,
while the source's location determines the DoAs (direction-of-arrival) of
signals along different arriving paths. Symphony therefore includes a
geometry-based filtering module to distinguish signals from different sources
along different paths and a coherence-based module to identify signals from the
same source. We implement Symphony with different types of commercial
off-the-shelf microphone arrays and evaluate its performance under different
settings. The results show that Symphony has a median localization error of
0.694m, which is 68% less than that of the state-of-the-art approach
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