Hybrid Data Fusion Techniques for Localization in UWB Networks

International audienceIn this paper, we exploit the concept of data fusion in UWB (Ultra Wide Band) localization systems by using different location-dependent observables. We combine ToA (Time of Arrival) and RSS (Received Signal Strength) in order to get accurate positioning algorithms.We assume that RSS observables are usually available and we study the effect of adding ToA observables on the positioning accuracy. The proposed architecture of Hybrid Data Fusion (HDF) is based on two stages: Ranging using RSS and ToA; and Estimation of position by the fusion of estimated ranges. In the first stage, we propose a new estimator of ranges from RSS observables assuming a path loss model. In the second stage, a new ML estimator is developed to merge different ranges with different variances. In order to evaluate these algorithms, simulations are carried out in a generic indoor environment and Cramer Rao Lower Bounds (CRLB) are investigated. Those algorithms show enhanced positioning results at reasonable noise levels

Recent development of mechanisms and control strategies for robot-assisted lower limb rehabilitation

Robot-assisted rehabilitation and therapy has become more and more frequently used to help the elderly, disabled patients or movement disorders to perform exercise and training. The field of robot-assisted lower limb rehabilitation has rapidly evolved in the last decade. This article presents a review on the most recent progress (from year 2001 to 2014) of mechanisms, training modes and control strategies for lower limb rehabilitation robots. Special attention is paid to the adaptive robot control methods considering hybrid data fusion and patient evaluation in robot-assisted passive and active lower limb rehabilitation. The characteristics and clinical outcomes of different training modes and control algorithms in recent studies are analysed and summarized. Research gaps and future directions are also highlighted in this paper to improve the outcome of robot-assisted rehabilitation

Implicit Cooperative Positioning in Vehicular Networks

Absolute positioning of vehicles is based on Global Navigation Satellite Systems (GNSS) combined with on-board sensors and high-resolution maps. In Cooperative Intelligent Transportation Systems (C-ITS), the positioning performance can be augmented by means of vehicular networks that enable vehicles to share location-related information. This paper presents an Implicit Cooperative Positioning (ICP) algorithm that exploits the Vehicle-to-Vehicle (V2V) connectivity in an innovative manner, avoiding the use of explicit V2V measurements such as ranging. In the ICP approach, vehicles jointly localize non-cooperative physical features (such as people, traffic lights or inactive cars) in the surrounding areas, and use them as common noisy reference points to refine their location estimates. Information on sensed features are fused through V2V links by a consensus procedure, nested within a message passing algorithm, to enhance the vehicle localization accuracy. As positioning does not rely on explicit ranging information between vehicles, the proposed ICP method is amenable to implementation with off-the-shelf vehicular communication hardware. The localization algorithm is validated in different traffic scenarios, including a crossroad area with heterogeneous conditions in terms of feature density and V2V connectivity, as well as a real urban area by using Simulation of Urban MObility (SUMO) for traffic data generation. Performance results show that the proposed ICP method can significantly improve the vehicle location accuracy compared to the stand-alone GNSS, especially in harsh environments, such as in urban canyons, where the GNSS signal is highly degraded or denied.Comment: 15 pages, 10 figures, in review, 201

A hybrid data fusion based cooperative localization approach for cellular networks

One of the major challenges of Cellular network based localization techniques is lack of hearability between mobile terminals (MTs) and base stations (BSs), thus the number of available anchors is limited. In order to solve the hearability problem, previous work assume some of the MTs have their location information via Global Positioning System (GPS). These located MT can be utilized to find the location of an un-located MT without GPS receiver. However, its performance is still limited by the number of available located MTs for cooperation. This paper consider a practical scenario that hearability is only possible between a MT and its home BS. Only one located MT together with the home BS are utilized to find the location of the un-located MT. A hybrid cooperative localization approach is proposed to combine time-of-arrival and received signal strength based fingerprinting techniques. It is shown in simulations that the proposed hybrid approach outperform the stand-alone time-of-arrival techniques or received signal strength based fingerprinting techniques in the considered scenario. It is also found that the proposed approach offer better accuracy with larger distance between the located MT and the home BS. © 2011 IEEE

Occupancy Estimation Using Low-Cost Wi-Fi Sniffers

Real-time measurements on the occupancy status of indoor and outdoor spaces can be exploited in many scenarios (HVAC and lighting system control, building energy optimization, allocation and reservation of spaces, etc.). Traditional systems for occupancy estimation rely on environmental sensors (CO2, temperature, humidity) or video cameras. In this paper, we depart from such traditional approaches and propose a novel occupancy estimation system which is based on the capture of Wi-Fi management packets from users' devices. The system, implemented on a low-cost ESP8266 microcontroller, leverages a supervised learning model to adapt to different spaces and transmits occupancy information through the MQTT protocol to a web-based dashboard. Experimental results demonstrate the validity of the proposed solution in four different indoor university spaces.Comment: Submitted to Balkancom 201

A Maximum Likelihood TOA Based Estimator For Localization in Heterogeneous Networks

International audienceIn this paper, we exploit the concept of data fusion in hybrid localization systems by combining different TOA (Time of Arrival) observables coming from different RATs (Radio Access Technology) and characterized by different precisions in order to enhance the positioning accuracy. A new Maximum Likelihood estimator is developed to fuse different measured ranges with different variances. In order to evaluate this estimator, Monte Carlo simulations are carried out in a generic environment and Cramer Rao Lower Bounds (CRLB) are investigated. This algorithm shows enhanced positioning accuracy at reasonable noise levels comparing to the typical Weighted Least Square estimator. The CRLB reveals that the choice of the number, and the configuration of Anchor nodes, and the type of RAT may enhance positioning accuracy

A hyperlocal hybrid data fusion near-road PM2.5 and NO2 annual risk and environmental justice assessment across the United States

Exposure to traffic-related air pollutants (TRAPs) has been associated with numerous adverse health effects. TRAP concentrations are highest meters away from major roads, and disproportionately affect minority (i.e., non-white) populations often considered the most vulnerable to TRAP exposure. To demonstrate an improved assessment of on-road emissions and to quantify exposure inequity in this population, we develop and apply a hybrid data fusion approach that utilizes the combined strength of air quality observations and regional/ local scale models to estimate air pollution exposures at census block resolution for the entire U.S. We use the regional photochemical grid model CMAQ (Community Multiscale Air Quality) to predict the spatiotemporal impacts at local/regional scales, and the local scale dispersion model, R-LINE (Research LINE source) to estimate concentrations that capture the sharp TRAP gradients from roads. We further apply the Regionalized Air quality Model Performance (RAMP) Hybrid data fusion technique to consider the model’s nonhomogeneous, nonlinear performance to not only improve exposure estimates, but also achieve significant model performance improvement. With a R2 of 0.51 for PM2.5 and 0.81 for NO2, the RAMP hybrid method improved R2 by ~0.2 for both pollutants (an increase of up to ~70% for PM2.5 and ~31% NO2). Using the RAMP Hybrid method, we estimate 264,516 [95% confidence interval [CI], 223,506–307,577] premature deaths attributable to PM2.5 from all sources, a ~1% overall decrease in CMAQ-estimated premature mortality compared to RAMP Hybrid, despite increases and decreases in some locations. For NO2, RAMP Hybrid estimates 138,550 [69,275–207,826] premature deaths, a ~19% increase (22,576 [11,288 – 33,864]) compared to CMAQ. Finally, using our RAMP hybrid method to estimate exposure inequity across the U.S., we estimate that Minorities within 100 m from major roads are exposed to up to 15% more PM2.5 and up to 35% more NO2 than their White counterparts