State estimation algorithms for signals of global Navigation satellite systems

GNSS (Global Navigation Satellite System) пријемник, након филтрирања и одабирања примљеног сигнала, врши његову обраду кроз две секвенцијал- не фазе: синхронизацију и одређивање положаја. У фази синхронизаци- је се прате параметри сигнала тренутно видљивих сателита (временско ка- шњење сигнала проширеног спектра, фазa носиоца и Доплерова фреквен- ција). Ови параметри се користе за добијање информације о растојању из- међу пријемника и сателита. Обезбеђивањем растојања до најмање четири сателита могуће је одредити положај пријемника...After filtering and sampling of the received signal, a GNSS (Global Navigation Satellite System) receiver performs processing in two sequential phases: synchronization and position determination . In the phase of synchronization parameters of signals from currently visible satellites are tracked (time delay of pseudorandom signal, carrier phase and Doppler frequency). These parameters are used to obtain information about the distance between the receiver and the satellite. By providing the distance to at least four satellites it is possible to determine the position of the receiver..

Location-Based Sensor Fusion for UAS Urban Navigation.

For unmanned aircraft systems (UAS) to effectively conduct missions in urban environments, a multi-sensor navigation scheme must be developed that can operate in areas with degraded Global Positioning System (GPS) signals. This thesis proposes a sensor fusion plug and play capability for UAS navigation in urban environments to test combinations of sensors. Measurements are fused using both the Extended Kalman Filter (EKF) and Ensemble Kalman Filter (EnKF), a type of Particle Filter. A Long Term Evolution (LTE) transceiver and computer vision sensor each augment the traditional GPS receiver, inertial sensors, and air data system. Availability and accuracy information for each sensor is extracted from the literature. LTE positioning is motivated by a perpetually expanding network that can provide persistent measurements in the urban environment. A location-based logic model is proposed to predict sensor availability and accuracy for a given type of urban environment based on a map database as well as real-time sensor inputs and filter outputs. The simulation is executed in MATLAB where the vehicle dynamics, environment, sensors, and filters are user-customizable. Results indicate that UAS horizontal position accuracy is most dependent on availability of high sampling rate position measurements along with GPS measurement availability. Since the simulation is able to accept LTE sensor specifications, it will be able to show how the UAS position accuracy can be improved in the future with this persistent measurement, even though the accuracy is not improved using current LTE state-of-the-art. In the unmatched true propagation and filter dynamics model scenario, filter tuning proves to be difficult as GPS availability varies from urban canyon to urban canyon. The main contribution of this thesis is the generation of accuracy data for different sensor suites in both a homogeneous urban environment (solid walls) using matched dynamics models and a heterogeneous urban environment layout using unmatched models that necessitate filter tuning. Future work should explore the use of downward facing VISION sensors and LiDAR, integrate real-time map information into sensor availability and measurement weighting decisions, including the use of LTE for approximate localization, and more finely represent expected measurement accuracies in the GPS and LTE networks.PhDAerospace EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/110361/1/jrufa_1.pd

Nonlinear Filtering based on Log-homotopy Particle Flow : Methodological Clarification and Numerical Evaluation

The state estimation of dynamical systems based on measurements is an ubiquitous problem. This is relevant in applications like robotics, industrial manufacturing, computer vision, target tracking etc. Recursive Bayesian methodology can then be used to estimate the hidden states of a dynamical system. The procedure consists of two steps: a process update based on solving the equations modelling the state evolution, and a measurement update in which the prior knowledge about the system is improved based on the measurements. For most real world systems, both the evolution and the measurement models are nonlinear functions of the system states. Additionally, both models can also be perturbed by random noise sources, which could be non-Gaussian in their nature. Unlike linear Gaussian models, there does not exist any optimal estimation scheme for nonlinear/non-Gaussian scenarios. This thesis investigates a particular method for nonlinear and non-Gaussian data assimilation, termed as the log-homotopy based particle flow. Practical filters based on such flows have been known in the literature as Daum Huang filters (DHF), named after the developers. The key concept behind such filters is the gradual inclusion of measurements to counter a major drawback of single step update schemes like the particle filters i.e. namely the degeneracy. This could refer to a situation where the likelihood function has its probability mass well seperated from the prior density, and/or is peaked in comparison. Conventional sampling or grid based techniques do not perform well under such circumstances and in order to achieve a reasonable accuracy, could incur a high processing cost. DHF is a sampling based scheme, which provides a unique way to tackle this challenge thereby lowering the processing cost. This is achieved by dividing the single measurement update step into multiple sub steps, such that particles originating from their prior locations are graduated incrementally until they reach their final locations. The motion is controlled by a differential equation, which is numerically solved to yield the updated states. DH filters, even though not new in the literature, have not been fully explored in the detail yet. They lack the in-depth analysis that the other contemporary filters have gone through. Especially, the implementation details for the DHF are very application specific. In this work, we have pursued four main objectives. The first objective is the exploration of theoretical concepts behind DHF. Secondly, we build an understanding of the existing implementation framework and highlight its potential shortcomings. As a sub task to this, we carry out a detailed study of important factors that affect the performance of a DHF, and suggest possible improvements for each of those factors. The third objective is to use the improved implementation to derive new filtering algorithms. Finally, we have extended the DHF theory and derived new flow equations and filters to cater for more general scenarios. Improvements in the implementation architecture of a standard DHF is one of the key contributions of this thesis. The scope of the applicability of DHF is expanded by combining it with other schemes like the Sequential Markov chain Monte Carlo and the tensor decomposition based solution of the Fokker Planck equation, resulting in the development of new nonlinear filtering algorithms. The standard DHF, using improved implementation and the newly derived algorithms are tested in challenging simulated test scenarios. Detailed analysis have been carried out, together with the comparison against more established filtering schemes. Estimation error and the processing time are used as important performance parameters. We show that our new filtering algorithms exhibit marked performance improvements over the traditional schemes

Perception for autonomous driving in urban road environment

Ph.DDOCTOR OF PHILOSOPH

Mobile Robots Navigation

Mobile robots navigation includes different interrelated activities: (i) perception, as obtaining and interpreting sensory information; (ii) exploration, as the strategy that guides the robot to select the next direction to go; (iii) mapping, involving the construction of a spatial representation by using the sensory information perceived; (iv) localization, as the strategy to estimate the robot position within the spatial map; (v) path planning, as the strategy to find a path towards a goal location being optimal or not; and (vi) path execution, where motor actions are determined and adapted to environmental changes. The book addresses those activities by integrating results from the research work of several authors all over the world. Research cases are documented in 32 chapters organized within 7 categories next described

IoT Applications Computing

The evolution of emerging and innovative technologies based on Industry 4.0 concepts are transforming society and industry into a fully digitized and networked globe. Sensing, communications, and computing embedded with ambient intelligence are at the heart of the Internet of Things (IoT), the Industrial Internet of Things (IIoT), and Industry 4.0 technologies with expanding applications in manufacturing, transportation, health, building automation, agriculture, and the environment. It is expected that the emerging technology clusters of ambient intelligence computing will not only transform modern industry but also advance societal health and wellness, as well as and make the environment more sustainable. This book uses an interdisciplinary approach to explain the complex issue of scientific and technological innovations largely based on intelligent computing

Transmission Modeling with Smartphone-based Sensing

Infectious disease spread is difficult to accurately measure and model. Even for well-studied pathogens, uncertainties remain regarding the dynamics of mixing behavior and how to balance simulation-generated estimates with empirical data. Smartphone-based sensing data promises the availability of inferred proximate contacts, with which we can improve transmission models. This dissertation addresses the problem of informing transmission models with proximity contact data by breaking it down into three sub-questions. Firstly, can proximity contact data inform transmission models? To this question, an extended-Kalman-filter enhanced System Dynamics Susceptible-Infectious-Removed (EKF-SD-SIR) model demonstrated the filtering approach, as a framework, for informing Systems Dynamics models with proximity contact data. This combination results in recurrently-regrounded system status as empirical data arrive throughout disease transmission simulations---simultaneously considering empirical data accuracy, growing simulation error between measurements, and supporting estimation of changing model parameters. However, as revealed by this investigation, this filtering approach is limited by the quality and reliability of sensing-informed proximate contacts, which leads to the dissertation's second and third questions---investigating the impact of temporal and spatial resolution on sensing inferred proximity contact data for transmission models. GPS co-location and Bluetooth beaconing are two of those common measurement modalities to sense proximity contacts with different underlying technologies and tradeoffs. However, both measurement modalities have shortcomings and are prone to false positives or negatives when used to detect proximate contacts because unmeasured environmental influences bias the data. Will differences in sensing modalities impact transmission models informed by proximity contact data? The second part of this dissertation compares GPS- and Bluetooth-inferred proximate contacts by accessing their impact on simulated attack rates in corresponding proximate-contact-informed agent-based Susceptible-Exposed-Infectious-Recovered (ABM-SEIR) models of four distinct contagious diseases. Results show that the inferred proximate contacts resulting from these two measurement modalities are different and give rise to significantly different attack rates across multiple data collections and pathogens. While the advent of commodity mobile devices has eased the collection of proximity contact data, battery capacity and associated costs impose tradeoffs between the frequency and scanning duration used for proximate-contact detection. The choice of a balanced sensing regime involves specifying temporal resolutions and interpreting sensing data---depending on circumstances such as the characteristics of a particular pathogen, accompanying disease, and underlying population. How will the temporal resolution of sensing impact transmission models informed by proximity contact data? Furthermore, how will circumstances alter the impact of temporal resolution? The third part of this dissertation investigates the impacts of sensing regimes on findings from two sampling methods of sensing at widely varying inter-observation intervals by synthetically downsampling proximity contact data from five contact network studies---with each of these five studies measuring participant-participant contact every 5 minutes for durations of four or more weeks. The impact of downsampling is evaluated through ABM-SEIR simulations from both population- and individual-level for 12 distinct contagious diseases and associated variants of concern. Studies in this part find that for epidemiological models employing proximity contact data, both the observation paradigms and the inter-observation interval configured to collect proximity contact data exert impacts on the simulation results. Moreover, the impact is subject to the population characteristics and pathogen infectiousness reflective (such as the basic reproduction number, $R_0$). By comparing the performance of two sampling methods of sensing, we found that in most cases, periodically observing for a certain duration can collect proximity contact data that allows agent-based models to produce a reasonable estimation of the attack rate. However, higher-resolution data are preferred for modeling individual infection risk. Findings from this part of the dissertation represent a step towards providing the empirical basis for guidelines to inform data collection that is at once efficient and effective. This dissertation addresses the problem of informing transmission models with proximity contact data in three steps. Firstly, the demonstration of an EKF-SD-SIR model suggests that the filtering approach could improve System Dynamics transmission models by leveraging proximity contact data. In addition, experiments with the EKF-SD-SIR model also revealed that the filtering approach is constrained by the limited quality and reliability of sensing-data-inferred proximate contacts. The following two parts of this dissertation investigate spatial-temporal factors that could impact the quality and reliability of sensor-collected proximity contact data. In the second step, the impact of spatial resolution is illustrated by differences between two typical sensing modalities---Bluetooth beaconing versus GPS co-location. Experiments show that, in general, proximity contact data collected with Bluetooth beaconing lead to transmission models with results different from those driven by proximity contact data collected with GPS co-location. Awareness of the differences between sensing modalities can aid researchers in incorporating proximity contact data into transmission models. Finally, in the third step, the impact of temporal resolution is elucidated by investigating the differences between results of transmission models led by proximity contact data collected with varying observation frequencies. These differences led by varying observation frequencies are evaluated under circumstances with alternative assumptions regarding sampling method, disease/pathogen type, and the underlying population. Experiments show that the impact of sensing regimes is influenced by the type of diseases/pathogens and underlying population, while sampling once in a while can be a decent choice across all situations. This dissertation demonstrated the value of a filtering approach to enhance transmission models with sensor-collected proximity contact data, as well as explored spatial-temporal factors that will impact the accuracy and reliability of sensor-collected proximity contact data. Furthermore, this dissertation suggested guidance for future sensor-based proximity contact data collection and highlighted needs and opportunities for further research on sensing-inferred proximity contact data for transmission models

Urban Informatics

This open access book is the first to systematically introduce the principles of urban informatics and its application to every aspect of the city that involves its functioning, control, management, and future planning. It introduces new models and tools being developed to understand and implement these technologies that enable cities to function more efficiently – to become ‘smart’ and ‘sustainable’. The smart city has quickly emerged as computers have become ever smaller to the point where they can be embedded into the very fabric of the city, as well as being central to new ways in which the population can communicate and act. When cities are wired in this way, they have the potential to become sentient and responsive, generating massive streams of ‘big’ data in real time as well as providing immense opportunities for extracting new forms of urban data through crowdsourcing. This book offers a comprehensive review of the methods that form the core of urban informatics from various kinds of urban remote sensing to new approaches to machine learning and statistical modelling. It provides a detailed technical introduction to the wide array of tools information scientists need to develop the key urban analytics that are fundamental to learning about the smart city, and it outlines ways in which these tools can be used to inform design and policy so that cities can become more efficient with a greater concern for environment and equity

Urban Informatics

This open access book is the first to systematically introduce the principles of urban informatics and its application to every aspect of the city that involves its functioning, control, management, and future planning. It introduces new models and tools being developed to understand and implement these technologies that enable cities to function more efficiently – to become ‘smart’ and ‘sustainable’. The smart city has quickly emerged as computers have become ever smaller to the point where they can be embedded into the very fabric of the city, as well as being central to new ways in which the population can communicate and act. When cities are wired in this way, they have the potential to become sentient and responsive, generating massive streams of ‘big’ data in real time as well as providing immense opportunities for extracting new forms of urban data through crowdsourcing. This book offers a comprehensive review of the methods that form the core of urban informatics from various kinds of urban remote sensing to new approaches to machine learning and statistical modelling. It provides a detailed technical introduction to the wide array of tools information scientists need to develop the key urban analytics that are fundamental to learning about the smart city, and it outlines ways in which these tools can be used to inform design and policy so that cities can become more efficient with a greater concern for environment and equity