Навігація БПЛА в приміщенні на основі TDOA методу

Робота публікується згідно наказу ректора від 27.05.2021 р. №311/од "Про розміщення кваліфікаційних робіт вищої освіти в репозиторії НАУ". Керівник дипломної роботи: професор сумісник кафедри авіоніки, Сібрук Леонід ВікторовичThe popularity of UAV’s during last years is greatly increasing. Drones are getting more broad use in various commercial applications. They are used for mapping, monitoring, logistics, media, search and rescue operations and many more possible use cases. One of the recently emerged UAV’s type are indoor drones. Such drones are mostly used for inspections, security monitoring, warehouse operations and public safety. On this basis, a demand for indoor navigation system arises. The specifics of indoor operations of drones, creates unique technical challenges. Development of reliable and precise navigational systems, will allow to implement autonomous UAV system, which will vastly increase efficiency of indoor drone operations. Studies on this topic are sparse and require further investigations and development. For development of navigation systems, it is possible to rely on existing technologies from different areas, such as indoor positioning for pedestrian navigation, or positioning algorithms, used in aviation. Estimation of theoretical performance and accuracy of indoor navigational algorithms and technologies can allow further improvements and implementation of new technologies for practical use. The developed mathematical model is used for analysis of TDOA-based positioning algorithm, which can be used in such positioning systems.Популярность БПЛА в последние годы значительно возрастает. Дроны получают все более широкое применение в различных коммерческих приложениях. Они используются для картирования, мониторинг, логистика, средства массовой информации, поисково-спасательные операции и многое другое возможное использование случаи. Одним из недавно появившихся типов БПЛА являются внутренние дроны. Такие дроны чаще всего используется для инспекций, мониторинга безопасности, складских операций и общественной безопасности. На этом основе возникает спрос на внутреннюю навигационную систему. Специфика работы внутри помещений дронов, создает уникальные технические проблемы. Разработка надежных и точных навигационных систем, позволит реализовать автономную систему БПЛА, что значительно повысить эффективность работы дронов внутри помещений. Исследования по этой теме немногочисленны и требуют дальнейших исследований и разработок. Для разработки навигационных систем можно полагаться на существующие технологии от различные области, такие как позиционирование в помещении для пешеходной навигации или позиционирование алгоритмы, используемые в авиации. Оценка теоретической производительности и точности алгоритмов внутренней навигации и технологии могут позволить дальнейшие улучшения и внедрение новых технологий для практического использования. Разработанная математическая модель используется для анализа алгоритм позиционирования, который можно использовать в таких системах позиционирования

TDoA Based Positioning using Ultrasound Signals and Wireless Nodes

In this paper, a positioning technique based on Time Difference of Arrival (TDoA) measurements is analyzed. The proposed approach is designed to consent range and position estimation, using ultrasound transmissions of a stream of chirp pulses, received by a set of wireless nodes. A potential source of inaccuracy introduced by lack of synchronization between transmitting node and receiving nodes is identified and characterized. An algorithm to identify and correct such inaccuracies is presented.Comment: Preprin

Indoor location identification technologies for real-time IoT-based applications: an inclusive survey

YesThe advent of the Internet of Things has witnessed tremendous success in the application of wireless sensor networks and ubiquitous computing for diverse smart-based applications. The developed systems operate under different technologies using different methods to achieve their targeted goals. In this treatise, we carried out an inclusive survey on key indoor technologies and techniques, with to view to explore their various benefits, limitations, and areas for improvement. The mathematical formulation for simple localization problems is also presented. In addition, an empirical evaluation of the performance of these indoor technologies is carried out using a common generic metric of scalability, accuracy, complexity, robustness, energy-efficiency, cost and reliability. An empirical evaluation of performance of different RF-based technologies establishes the viability of Wi-Fi, RFID, UWB, Wi-Fi, Bluetooth, ZigBee, and Light over other indoor technologies for reliable IoT-based applications. Furthermore, the survey advocates hybridization of technologies as an effective approach to achieve reliable IoT-based indoor systems. The findings of the survey could be useful in the selection of appropriate indoor technologies for the development of reliable real-time indoor applications. The study could also be used as a reliable source for literature referencing on the subject of indoor location identification.Supported in part by the Tertiary Education Trust Fund of the Federal Government of Nigeria, and in part by the European Union’s Horizon 2020 Research and Innovation Programme under Grant agreement H2020-MSCA-ITN-2016 SECRET-72242

A State-of-the-Art Survey of Indoor Positioning and Navigation Systems and Technologies

The research and use of positioning and navigation technologies outdoors has seen a steady and exponential growth. Based on this success, there have been attempts to implement these technologies indoors, leading to numerous studies. Most of the algorithms, techniques and technologies used have been implemented outdoors. However, how they fare indoors is different altogether. Thus, several technologies have been proposed and implemented to improve positioning and navigation indoors. Among them are Infrared (IR), Ultrasound, Audible Sound, Magnetic, Optical and Vision, Radio Frequency (RF), Visible Light, Pedestrian Dead Reckoning (PDR)/Inertial Navigation System (INS) and Hybrid. The RF technologies include Bluetooth, Ultra-wideband (UWB), Wireless Sensor Network (WSN), Wireless Local Area Network (WLAN), Radio-Frequency Identification (RFID) and Near Field Communication (NFC). In addition, positioning techniques applied in indoor positioning systems include the signal properties and positioning algorithms. The prevalent signal properties are Angle of Arrival (AOA), Time of Arrival (TOA), Time Difference of Arrival (TDOA) and Received Signal Strength Indication (RSSI), while the positioning algorithms are Triangulation, Trilateration, Proximity and Scene Analysis/ Fingerprinting. This paper presents a state-of-the-art survey of indoor positioning and navigation systems and technologies, and their use in various scenarios. It analyses distinct positioning technology metrics such as accuracy, complexity, cost, privacy, scalability and usability. This paper has profound implications for future studies of positioning and navigation

Machine Learning Techniques for Device-Free Indoor Person Tracking

L'abstract è presente nell'allegato / the abstract is in the attachmen

Improving Accuracy in Ultra-Wideband Indoor Position Tracking through Noise Modeling and Augmentation

The goal of this research is to improve the precision in tracking of an ultra-wideband (UWB) based Local Positioning System (LPS). This work is motivated by the approach taken to improve the accuracies in the Global Positioning System (GPS), through noise modeling and augmentation. Since UWB indoor position tracking is accomplished using methods similar to that of the GPS, the same two general approaches can be used to improve accuracy. Trilateration calculations are affected by errors in distance measurements from the set of fixed points to the object of interest. When these errors are systemic, each distinct set of fixed points can be said to exhibit a unique set noise. For UWB indoor position tracking, the set of fixed points is a set of sensors measuring the distance to a tracked tag. In this work we develop a noise model for this sensor set noise, along with a particle filter that uses our set noise model. To the author\u27s knowledge, this noise has not been identified and modeled for an LPS. We test our methods on a commercially available UWB system in a real world setting. From the results we observe approximately 15% improvement in accuracy over raw UWB measurements. The UWB system is an example of an aided sensor since it requires a person to carry a device which continuously broadcasts its identity to determine its location. Therefore the location of each user is uniquely known even when there are multiple users present. However, it suffers from limited precision as compared to some unaided sensors such as a camera which typically are placed line of sight (LOS). An unaided system does not require active participation from people. Therefore it has more difficulty in uniquely identifying the location of each person when there are a large number of people present in the tracking area. Therefore we develop a generalized fusion framework to combine measurements from aided and unaided systems to improve the tracking precision of the aided system and solve data association issues in the unaided system. The framework uses a Kalman filter to fuse measurements from multiple sensors. We test our approach on two unaided sensor systems: Light Detection And Ranging (LADAR) and a camera system. Our study investigates the impact of increasing the number of people in an indoor environment on the accuracies using a proposed fusion framework. From the results we observed that depending on the type of unaided sensor system used for augmentation, the improvement in precision ranged from 6-25% for up to 3 people

Sensors and Systems for Indoor Positioning

This reprint is a reprint of the articles that appeared in Sensors' (MDPI) Special Issue on “Sensors and Systems for Indoor Positioning". The published original contributions focused on systems and technologies to enable indoor applications

Techniques for Communication and Geolocation using Wireless Ad hoc Networks

Networks with hundreds of ad hoc nodes equipped with communication and position finding abilities are conceivable with recent advancements in technology. Methods are presented in this thesis to assess the communicative capabilities and node position estimation of mobile ad hoc networks. Specifically, we investigate techniques for providing communication and geolocation with specific characteristics in wireless ad hoc networks. The material presented in this thesis, communication and geolocation, may initially seem a collection of disconnected topics related only distantly under the banner of ad hoc networks. However, systems currently in development combining these techniques into single integrated systems. In this thesis first, we investigate the effect of multilayer interaction, including fading and path loss, on ad hoc routing protocol performance, and present a procedure for deploying an ad hoc network based on extensive simulations. Our first goal is to test the routing protocols with parameters that can be used to characterize the environment in which they might be deployed. Second, we analyze the location discovery problem in ad hoc networks and propose a fully distributed, infrastructure-free positioning algorithm that does not rely on the Global Positioning System (GPS). The algorithm uses the approximate distances between the nodes to build a relative coordinate system in which the node positions are computed in three-dimensions. However, in reconstructing three-dimensional positions from approximate distances, we need to consider error threshold, graph connectivity, and graph rigidity. We also statistically evaluate the location discovery procedure with respect to a number of parameters, such as error propagation and the relative positions of the nodes