PRLS-INVES: A General Experimental Investigation Strategy for High Accuracy and Precision in Passive RFID Location Systems

Due to cost-effectiveness and easy-deployment, radio-frequency identification (RFID) location systems are widely utilized into many industrial fields, particularly in the emerging environment of the Internet of Things (IoT). High accuracy and precision are key demands for these location systems. Numerous studies have attempted to improve localization accuracy and precision using either dedicated RFID infrastructures or advanced localization algorithms. But these effects mostly consider utilization of novel RFID localization solutions rather than optimization of this utilization. Practical use of these solutions in industrial applications leads to increased cost and deployment difficulty of RFID system. This paper attempts to investigate how accuracy and precision in passive RFID location systems (PRLS) are impacted by infrastructures and localization algorithms. A general experimental-based investigation strategy, PRLS-INVES, is designed for analyzing and evaluating the factors that impact the performance of a passive RFID location system. Through a case study on passive high frequency (HF) RFID location systems with this strategy, it is discovered that: 1) the RFID infrastructure is the primary factor determining the localization capability of an RFID location system and 2) localization algorithm can improve accuracy and precision, but is limited by the primary factor. A discussion on how to efficiently improve localization accuracy and precision in passive HF RFID location systems is given

Location estimation in smart homes setting with RFID systems

Indoor localisation technologies are a core component of Smart Homes. Many applications within Smart Homes benefit from localisation technologies to determine the locations of things, objects and people. The tremendous characteristics of the Radio Frequency Identification (RFID) systems have become one of the enabler technologies in the Internet of Things (IOT) that connect objects and things wirelessly. RFID is a promising technology in indoor positioning that not only uniquely identifies entities but also locates affixed RFID tags on objects or subjects in stationary and real-time. The rapid advancement in RFID-based systems has sparked the interest of researchers in Smart Homes to employ RFID technologies and potentials to assist with optimising (non-) pervasive healthcare systems in automated homes. In this research localisation techniques and enabled positioning sensors are investigated. Passive RFID sensors are used to localise passive tags that are affixed to Smart Home objects and track the movement of individuals in stationary and real-time settings. In this study, we develop an affordable passive localisation platform using inexpensive passive RFID sensors. To fillful this aim, a passive localisation framework using minimum tracking resources (RFID sensors) has been designed. A localisation prototype and localisation application that examined the affixed RFID tag on objects to evaluate our proposed locaisation framework was then developed. Localising algorithms were utilised to achieve enhanced accuracy of localising one particular passive tag which that affixed to target objects. This thesis uses a general enough approach so that it could be applied more widely to other applications in addition to Health Smart Homes. A passive RFID localising framework is designed and developed through systematic procedures. A localising platform is built to test the proposed framework, along with developing a RFID tracking application using Java programming language and further data analysis in MATLAB. This project applies localisation procedures and evaluates them experimentally. The experimental study positively confirms that our proposed localisation framework is capable of enhancing the accuracy of the location of the tracked individual. The low-cost design uses only one passive RFID target tag, one RFID reader and three to four antennas

Indoor Localisation of Scooters from Ubiquitous Cost-Effective Sensors: Combining Wi-Fi, Smartphone and Wheel Encoders

Indoor localisation of people and objects has been a focus of research studies for several decades because of its great advantage to several applications. Accuracy has always been a challenge because of the uncertainty of the employed sensors. Several technologies have been proposed and researched, however, accuracy still represents an issue. Today, several sensor technologies can be found in indoor environments, some of which are economical and powerful, such as Wi-Fi. Meanwhile, Smartphones are typically present indoors because of the people that carry them along, while moving about within rooms and buildings. Furthermore, vehicles such as mobility scooters can also be present indoor to support people with mobility impairments, which may be equipped with low-cost sensors, such as wheel encoders. This thesis investigates the localisation of mobility scooters operating indoor. This represents a specific topic as most of today's indoor localisation systems are for pedestrians. Furthermore, accurate indoor localisation of those scooters is challenging because of the type of motion and specific behaviour. The thesis focuses on improving localisation accuracy for mobility scooters and on the use of already available indoor sensors. It proposes a combined use of Wi-Fi, Smartphone IMU and wheel encoders, which represents a cost-effective energy-efficient solution. A method has been devised and a system has been developed, which has been experimented on different environment settings. The outcome of the experiments are presented and carefully analysed in the thesis. The outcome of several trials demonstrates the potential of the proposed solutions in reducing positional errors significantly when compared to the state-of-the-art in the same area. The proposed combination demonstrated an error range of 0.35m - 1.35m, which can be acceptable in several applications, such as some related to assisted living. 3 As the proposed system capitalizes on the use of ubiquitous technologies, it opens up to a potential quick take up from the market, therefore being of great benefit for the target audience

A review of laser scanning for geological and geotechnical applications in underground mining

Laser scanning can provide timely assessments of mine sites despite adverse challenges in the operational environment. Although there are several published articles on laser scanning, there is a need to review them in the context of underground mining applications. To this end, a holistic review of laser scanning is presented including progress in 3D scanning systems, data capture/processing techniques and primary applications in underground mines. Laser scanning technology has advanced significantly in terms of mobility and mapping, but there are constraints in coherent and consistent data collection at certain mines due to feature deficiency, dynamics, and environmental influences such as dust and water. Studies suggest that laser scanning has matured over the years for change detection, clearance measurements and structure mapping applications. However, there is scope for improvements in lithology identification, surface parameter measurements, logistic tracking and autonomous navigation. Laser scanning has the potential to provide real-time solutions but the lack of infrastructure in underground mines for data transfer, geodetic networking and processing capacity remain limiting factors. Nevertheless, laser scanners are becoming an integral part of mine automation thanks to their affordability, accuracy and mobility, which should support their widespread usage in years to come

Localisation and tracking of people using distributed UWB sensors

In vielen Überwachungs- und Rettungsszenarien ist die Lokalisierung und Verfolgung von Personen in Innenräumen auf nichtkooperative Weise erforderlich. Für die Erkennung von Objekten durch Wände in kurzer bis mittlerer Entfernung, ist die Ultrabreitband (UWB) Radartechnologie aufgrund ihrer hohen zeitlichen Auflösung und Durchdringungsfähigkeit Erfolg versprechend. In dieser Arbeit wird ein Prozess vorgestellt, mit dem Personen in Innenräumen mittels UWB-Sensoren lokalisiert werden können. Er umfasst neben der Erfassung von Messdaten, Abstandschätzungen und dem Erkennen von Mehrfachzielen auch deren Ortung und Verfolgung. Aufgrund der schwachen Reflektion von Personen im Vergleich zum Rest der Umgebung, wird zur Personenerkennung zuerst eine Hintergrundsubtraktionsmethode verwendet. Danach wird eine konstante Falschalarmrate Methode zur Detektion und Abstandschätzung von Personen angewendet. Für Mehrfachziellokalisierung mit einem UWB-Sensor wird eine Assoziationsmethode entwickelt, um die Schätzungen des Zielabstandes den richtigen Zielen zuzuordnen. In Szenarien mit mehreren Zielen kann es vorkommen, dass ein näher zum Sensor positioniertes Ziel ein anderes abschattet. Ein Konzept für ein verteiltes UWB-Sensornetzwerk wird vorgestellt, in dem sich das Sichtfeld des Systems durch die Verwendung mehrerer Sensoren mit unterschiedlichen Blickfeldern erweitert lässt. Hierbei wurde ein Prototyp entwickelt, der durch Fusion von Sensordaten die Verfolgung von Mehrfachzielen in Echtzeit ermöglicht. Dabei spielen insbesondere auch Synchronisierungs- und Kooperationsaspekte eine entscheidende Rolle. Sensordaten können durch Zeitversatz und systematische Fehler gestört sein. Falschmessungen und Rauschen in den Messungen beeinflussen die Genauigkeit der Schätzergebnisse. Weitere Erkenntnisse über die Zielzustände können durch die Nutzung zeitlicher Informationen gewonnen werden. Ein Mehrfachzielverfolgungssystem wird auf der Grundlage des Wahrscheinlichkeitshypothesenfilters (Probability Hypothesis Density Filter) entwickelt, und die Unterschiede in der Systemleistung werden bezüglich der von den Sensoren ausgegebene Informationen, d.h. die Fusion von Ortungsinformationen und die Fusion von Abstandsinformationen, untersucht. Die Information, dass ein Ziel detektiert werden sollte, wenn es aufgrund von Abschattungen durch andere Ziele im Szenario nicht erkannt wurde, wird als dynamische Überdeckungswahrscheinlichkeit beschrieben. Die dynamische Überdeckungswahrscheinlichkeit wird in das Verfolgungssystem integriert, wodurch weniger Sensoren verwendet werden können, während gleichzeitig die Performanz des Schätzers in diesem Szenario verbessert wird. Bei der Methodenauswahl und -entwicklung wurde die Anforderung einer Echtzeitanwendung bei unbekannten Szenarien berücksichtigt. Jeder untersuchte Aspekt der Mehrpersonenlokalisierung wurde im Rahmen dieser Arbeit mit Hilfe von Simulationen und Messungen in einer realistischen Umgebung mit UWB Sensoren verifiziert.Indoor localisation and tracking of people in non-cooperative manner is important in many surveillance and rescue applications. Ultra wideband (UWB) radar technology is promising for through-wall detection of objects in short to medium distances due to its high temporal resolution and penetration capability. This thesis tackles the problem of localisation of people in indoor scenarios using UWB sensors. It follows the process from measurement acquisition, multiple target detection and range estimation to multiple target localisation and tracking. Due to the weak reflection of people compared to the rest of the environment, a background subtraction method is initially used for the detection of people. Subsequently, a constant false alarm rate method is applied for detection and range estimation of multiple persons. For multiple target localisation using a single UWB sensor, an association method is developed to assign target range estimates to the correct targets. In the presence of multiple targets it can happen that targets closer to the sensor induce shadowing over the environment hindering the detection of other targets. A concept for a distributed UWB sensor network is presented aiming at extending the field of view of the system by using several sensors with different fields of view. A real-time operational prototype has been developed taking into consideration sensor cooperation and synchronisation aspects, as well as fusion of the information provided by all sensors. Sensor data may be erroneous due to sensor bias and time offset. Incorrect measurements and measurement noise influence the accuracy of the estimation results. Additional insight of the targets states can be gained by exploiting temporal information. A multiple person tracking framework is developed based on the probability hypothesis density filter, and the differences in system performance are highlighted with respect to the information provided by the sensors i.e. location information fusion vs range information fusion. The information that a target should have been detected when it is not due to shadowing induced by other targets is described as dynamic occlusion probability. The dynamic occlusion probability is incorporated into the tracking framework, allowing fewer sensors to be used while improving the tracker performance in the scenario. The method selection and development has taken into consideration real-time application requirements for unknown scenarios at every step. Each investigated aspect of multiple person localization within the scope of this thesis has been verified using simulations and measurements in a realistic environment using M-sequence UWB sensors

Wi-Fi For Indoor Device Free Passive Localization (DfPL): An Overview

The world is moving towards an interconnected and intercommunicable network of animate and inanimate objects with the emergence of Internet of Things (IoT) concept which is expected to have 50 billion connected devices by 2020. The wireless communication enabled devices play a major role in the realization of IoT. In Malaysia, home and business Internet Service Providers (ISP) bundle Wi-Fi modems working in 2.4 GHz Industrial, Scientific and Medical (ISM) radio band with their internet services. This makes Wi-Fi the most eligible protocol to serve as a local as well as internet data link for the IoT devices. Besides serving as a data link, human entity presence and location information in a multipath rich indoor environment can be harvested by monitoring and processing the changes in the Wi-Fi Radio Frequency (RF) signals. This paper comprehensively discusses the initiation and evolution of Wi-Fi based Indoor Device free Passive Localization (DfPL) since the concept was first introduced by Youssef et al. in 2007. Alongside the overview, future directions of DfPL in line with ongoing evolution of Wi-Fi based IoT devices are briefly discussed in this paper

A Review of Radio Frequency Based Localization for Aerial and Ground Robots with 5G Future Perspectives

Efficient localization plays a vital role in many modern applications of Unmanned Ground Vehicles (UGV) and Unmanned aerial vehicles (UAVs), which would contribute to improved control, safety, power economy, etc. The ubiquitous 5G NR (New Radio) cellular network will provide new opportunities for enhancing localization of UAVs and UGVs. In this paper, we review the radio frequency (RF) based approaches for localization. We review the RF features that can be utilized for localization and investigate the current methods suitable for Unmanned vehicles under two general categories: range-based and fingerprinting. The existing state-of-the-art literature on RF-based localization for both UAVs and UGVs is examined, and the envisioned 5G NR for localization enhancement, and the future research direction are explored