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

Performance Limits and Geometric Properties of Array Localization

Location-aware networks are of great importance and interest in both civil and military applications. This paper determines the localization accuracy of an agent, which is equipped with an antenna array and localizes itself using wireless measurements with anchor nodes, in a far-field environment. In view of the Cram\'er-Rao bound, we first derive the localization information for static scenarios and demonstrate that such information is a weighed sum of Fisher information matrices from each anchor-antenna measurement pair. Each matrix can be further decomposed into two parts: a distance part with intensity proportional to the squared baseband effective bandwidth of the transmitted signal and a direction part with intensity associated with the normalized anchor-antenna visual angle. Moreover, in dynamic scenarios, we show that the Doppler shift contributes additional direction information, with intensity determined by the agent velocity and the root mean squared time duration of the transmitted signal. In addition, two measures are proposed to evaluate the localization performance of wireless networks with different anchor-agent and array-antenna geometries, and both formulae and simulations are provided for typical anchor deployments and antenna arrays.Comment: to appear in IEEE Transactions on Information Theor

Precise vehicle location as a fundamental parameter for intelligent selfaware rail-track maintenance systems

The rail industry in the UK is undergoing substantial changes in response to a modernisation vision for 2040. Development and implementation of these will lead to a highly automated and safe railway. Real-time regulation of traffic will optimise the performance of the network, with trains running in succession within an adjacent movable safety zone. Critically, maintenance will use intelligent trainborne and track-based systems. These will provide accurate and timely information for condition based intervention at precise track locations, reducing possession downtime and minimising the presence of workers in operating railways. Clearly, precise knowledge of trains’ real-time location is of paramount importance. The positional accuracy demand of the future railway is less than 2m. A critical consideration of this requirement is the capability to resolve train occupancy in adjacent tracks, with the highest degree of confidence. A finer resolution is required for locating faults such as damage or missing parts, precisely. Location of trains currently relies on track signalling technology. However, these systems mostly provide an indication of the presence of trains within discrete track sections. The standard Global Navigation Satellite Systems (GNSS), cannot precisely and reliably resolve location as required either. Within the context of the needs of the future railway, state of the art location technologies and systems were reviewed and critiqued. It was found that no current technology is able to resolve location as required. Uncertainty is a significant factor. A new integrated approach employing complimentary technologies and more efficient data fusion process, can potentially offer a more accurate and robust solution. Data fusion architectures enabling intelligent self-aware rail-track maintenance systems are proposed

Secure Localization and Velocity Estimation in Mobile IoT Networks with Malicious Attacks

IEEE Secure localization and velocity estimation are of great importance in Internet of Things (IoT) applications and are particularly challenging in the presence of malicious attacks. The problem becomes even more challenging in practical scenarios in which attack information is unknown and anchor node location uncertainties occur due to node mobility and falsification of malicious nodes. This challenging problem is investigated in this paper. With reasonable assumptions on the attack model and uncertainties, the secure localization and velocity estimation problem is formulated as an intractable maximum a posterior (MAP) problem. A variational-message-passing (VMP) based algorithm is proposed to approximate the true posterior distribution iteratively and find the closed-form estimates of the location and velocity securely. The identification of malicious nodes is also achieved in the meantime. The convergence of the proposed VMP-based algorithm is also discussed. Numerical simulations are finally conducted and the results show the VMP-based joint localization and velocity estimation algorithm can approach the Bayesian Cramer Rao bound and is superior to other secure algorithms

Improvement of detection and tracking techniques in multistatic passive radar systems. (Mejora de técnicas de detección y seguimiento en sistemas radar pasivos multiestáticos)

Esta tesis doctoral es el resultado de una intensa actividad investigadora centrada en los sensores radar pasivos para la mejora de las capacidades de detección y seguimiento en escenarios complejos con blancos terrestres y pequeños drones. El trabajo de investigación se ha llevado a cabo en el grupo de investigación coordinado por la Dra. María Pilar Jarabo Amores, dentro del marco diferentes proyectos: IDEPAR (“Improved DEtection techniques for PAssive Radars”), MASTERSAT (“MultichAnnel paSsive radar receiver exploiting TERrestrial and SATellite Illuminators”) y KRIPTON (“A Knowledge based appRoach to passIve radar detection using wideband sPace adapTive prOcessiNg”) financiados por el Ministerio de Economía y Competitividad de España; MAPIS (Multichannel passive ISAR imaging for military applications) y JAMPAR (“JAMmer-based PAssive Radar”), financiados por la Agencia Europea de Defensa (EDA) . El objetivo principal es la mejora de las técnicas de detección y seguimiento en radares pasivos con configuraciones biestáticas y multiestaticas. En el documento se desarrollan algoritmos para el aprovechamiento de señales procedentes de distintos iluminadores de oportunidad (transmisores DVB-T, satélites DVB-S y señales GPS). Las soluciones propuestas han sido integradas en el demostrador tecnológico IDEPAR, desarrollado y actualizado bajo los proyectos mencionados, y validadas en escenarios reales declarados de interés por potenciales usuarios finales (Direccion general de armamento y material, instituto nacional de tecnología aeroespacial y la armada española). Para el desarrollo y evaluación de cadenas de las cadenas de procesado, se plantean dos casos de estudio: blancos terrestres en escenarios semiurbanos edificios y pequeños blancos aéreos en escenarios rurales y costeros. Las principales contribuciones se pueden resumir en los siguientes puntos: • Diseño de técnicas de seguimiento 2D en el espacio de trabajo rango biestático-frecuencia Doppler: se desarrollan técnicas de seguimiento para los dos casos de estudio, localización de blancos terrestres y pequeños drones. Para es último se implementan técnicas capaces de seguir tanto el movimiento del dron como su firma Doppler, lo que permite implementar técnicas de clasificación de blancos. • Diseño de técnicas de seguimiento de blancos capaces de integrar información en el espacio 3D (rango, Doppler y acimut): se diseñan técnicas basadas en procesado en dos etapas, una primera con seguimiento en 2D para el filtrado de falsas alarmas y la segunda para el seguimiento en 3D y la conversión de coordenadas a un plano local cartesiano. Se comparan soluciones basadas en filtros de Kalman para sistemas tanto lineales como no lineales. • Diseño de cadenas de procesado para sistemas multiestáticos: la información estimada del blanco sobre múltiples geometrías biestáticas es utilizada para incremento de las capacidades de localización del blanco en el plano cartesiano local. Se presentan soluciones basadas en filtros de Kalman para sistemas no lineales explotando diferentes medidas biestáticas en el proceso de transformación de coordenadas, analizando las mejoras de precisión en la localización del blanco. • Diseño de etapas de procesado para radares pasivos basados en señales satelitales de las constelaciones GPS DVB-S. Se estudian las características de las señales satelitales identificando sus inconvenientes y proponiendo cadenas de procesado que permitan su utilización para la detección y seguimiento de blancos terrestres. • Estudio del uso de señales DVB-T multicanal con gaps de transmisión entre los diferentes canales en sistemas radares pasivos. Con ello se incrementa la resolución del sistema, y las capacidades de detección, seguimiento y localización. Se estudia el modelo de señal multicanal, sus efectos sobre el procesado coherente y se proponen cadenas de procesado para paliar los efectos adversos de este tipo de señales

A Noise-Robust Method with Smoothed \ell_1/\ell_2 Regularization for Sparse Moving-Source Mapping

The method described here performs blind deconvolution of the beamforming output in the frequency domain. To provide accurate blind deconvolution, sparsity priors are introduced with a smooth \ell_1/\ell_2 regularization term. As the mean of the noise in the power spectrum domain is dependent on its variance in the time domain, the proposed method includes a variance estimation step, which allows more robust blind deconvolution. Validation of the method on both simulated and real data, and of its performance, are compared with two well-known methods from the literature: the deconvolution approach for the mapping of acoustic sources, and sound density modeling