Advanced Wireless Localisation Methods Dealing with Incomplete Measurements

Positioning techniques have become an essential part of modern engineering, and the improvement in computing devices brings great potential for more advanced and complicated algorithms. This thesis first studies the existing radio signal based positioning techniques and then presents three developed methods in the sense of dealing with incomplete data. Firstly, on the basis of received signal strength (RSS) location fingerprinting techniques, the Kriging interpolation methods are applied to generate complete fingerprint databases of denser reference locations from sparse or incomplete data sets, as a solution of reducing the workload and cost of offline data collection. Secondly, with incomplete knowledge of shadowing correlation, a new approach of Bayesian inference on RSS based multiple target localisation is proposed taking advantage of the inverse Wishart conjugate prior. The MCMC method (Metropolis-within-Gibbs) and the maximum a posterior (MAP) / maximum likelihood (ML) method are then considered to produce target location estimates. Thirdly, a new information fusion approach is developed for the time difference of arrival (TDOF) and frequency difference of arrival (FDOA) based dual-satellite geolocation system, as a solution to the unknown time and frequency offsets. All proposed methods are studied and validated through simulations. Result analyses and future work directions are discussed

Indoor localization utilizing existing infrastructure in smart homes : a thesis by publications presented in partial fulfilment of the requirements for the degree of Doctor of Philosophy in Computer and Electronics Engineering, Massey University, Albany, New Zealand

Listed in 2019 Dean's List of Exceptional ThesesIndoor positioning system (IPS) have received significant interest from the research community over the past decade. However, this has not eventuated into widespread adoption of IPS and few commercial solutions exist. Integration into Smart Homes could allow for secondary services including location-based services, targeted user experiences and intrusion detection, to be enabled using the existing underlying infrastructure. Since New Zealand has an aging population, we must ensure that the elderly are well looked after. An IPS solution could detect whether a person has been immobile for an extended period and alert medical personnel. A major shortcoming of existing IPS is their reliance on end-users to undertake a significant infrastructure investment to facilitate the localization tasks. An IPS that does not require extensive installation and calibration procedures, could potentially see significant uptake from end users. In order to expedite the widespread adoption of IPS technology, this thesis focuses on four major areas of improvement, namely: infrastructure reuse, reduced node density, algorithm improvement and reduced end user calibration requirements. The work presented demonstrates the feasibility of utilizing existing wireless and lighting infrastructure for positioning and implements novel spring-relaxation and potential fields-based localization approaches that allow for robust target tracking, with minimal calibration requirements. The developed novel localization algorithms are benchmarked against the existing state of the art and show superior performance

Employing multi-modal sensors for personalised smart home health monitoring.

Smart home systems are employed worldwide for a variety of automated monitoring tasks. FITsense is a system that performs personalised smart home health monitoring using sensor data. In this thesis, we expand upon this system by identifying the limits of health monitoring using simple IoT sensors, and establishing deployable solutions for new rich sensing technologies. The FITsense system collects data from FitHomes and generates behavioural insights for health monitoring. To allow the system to expand to arbitrary home layouts, sensing applications must be delivered while relying on sparse "ground truth" data. An enhanced data representation was tested for improving activity recognition performance by encoding observed temporal dependencies. Experiments showed an improvement in activity recognition accuracy over baseline data representations with standard classifiers. Channel State Information (CSI) was chosen as our rich sensing technology for its ambient nature and potential deployability. We developed a novel Python toolkit, called CSIKit, to handle various CSI software implementations, including automatic detection for off-the-shelf CSI formats. Previous researchers proposed a method to address AGC effects on COTS CSI hardware, which we tested and found to improve correlation with a baseline without AGC. This implementation was included in the public release of CSIKit. Two sensing applications were delivered using CSIKit to demonstrate its functionality. Our statistical approach to motion detection with CSI data showed a 32% increase in accuracy over an infrared sensor-based solution using data from 2 unique environments. We also demonstrated the first CSI activity recognition application on a Raspberry Pi 4, which achieved an accuracy of 92% with 11 activity classes. An application was then trained to support movement detection using data from all COTS CSI hardware. This was combined with our signal divider implementation to compare CSI wireless and sensing performance characteristics. The IWL5300 exhibited the most consistent wireless performance, while the ESP32 was found to produce viable CSI data for sensing applications. This establishes the ESP32 as a low-cost high-value hardware solution for CSI sensing. To complete this work, an in-home study was performed using real-world sensor data. An ESP32-based CSI sensor was developed to be integrated into our IoT network. This sensor was tested in a FitHome environment to identify how the data from our existing simple sensors could aid sensor development. We performed an experiment to demonstrate that annotations for CSI data could be gathered with infrared motion sensors. Results showed that our new CSI sensor collected real-world data of similar utility to that collected manually in a controlled environment

Experimental Characterisation of Body-Centric Radio Channels Using Wireless Sensors

PhDWireless sensors and their applications have become increasingly attractive for industry, building automation and energy control, paving the way for new applications of sensor networks which go well beyond traditional sensor applications. In recent years, there has been a rapid growth in the number of wireless devices operating in close proximity to the human body. Wearable sensor nodes are growing popular not only in our normal living lifestyle, but also within healthcare and military applications, where different radio units operating in/on/off body communicate pervasively. Expectations go beyond the research visions, towards deployment in real-world applications that would empower business processes and future business cases. Although theoretical and simulation models give initial results of the antenna behaviour and the radio channel performance of wireless body area network (WBAN) devices, empirical data from different set of measurements still form an essential part of the radio propagation models. Usually, measurements are performed in laboratory facilities which are equipped with bulky and expensive RF instrumentation within calibrated and controllable environments; thus, the acquired data has the highest possible reliability. However, there are still measurement uncertainties due to cables and connections and significant variations when designs are deployed and measured in real scenarios, such as hospitals wards, commercial buildings or even the battle field. Consequently, more flexible and less expensive measurement tools are required. In this sense, wireless sensor nodes offer not only easiness to deploy or flexibility, but also adaptability to different environments. In this thesis, custom-built wireless sensor nodes are used to characterise different on-body radio channels operating in the IEEE 802.15.4 communication standard at the 2.45 GHz ISM band. Measurement results are also compared with those from the conventional technique using a Vector Network Analyser. The wireless sensor nodes not only diminished the effect of semi-rigid or flexible coaxial cables (scattering or radiation) used with the Vector Network Analyser (VNA), but also provided a more realistic response of the radio link channel. The performance of the wireless sensors is presented over each of the 16 different channels present at the 2.45 GHz band. Additionally, custom-built wireless sensors are used to characterise and model the performance of different on-body radio links in dynamic environments, such as jogging, rowing, and cycling. The use of wireless sensors proves to be less obstructive and more flexible than traditional measurements using coaxial cables, VNA or signal generators. The statistical analysis of different WBAN channels highlighted important radio propagation features which can be used as sport classifiers models and motion detection. Moreover, specific on-body radio propagation channels are further explored, with the aim to recognize physiological features such as motion pattern, breathing activity and heartbeat. The time domain sample data is transformed to the frequency domain using a non-parametric FFT defined by the Welch’s periodogram. The Appendix-Section D explores other digital signal processing techniques which include spectrograms (STFT) and wavelet transforms (WT). Although a simple analysis is presented, strong DSP techniques proved to be good for signal de-noising and multi-resolution analysis. Finally, preliminary results are presented for indoor tracking using the RSS recorded by multiple wireless sensor nodes deployed in an indoor scenario. In contrast to outdoor environments, indoor scenarios are subject to a high level of multipath signals which are dependent on the indoor clutter. The presented algorithm is based on path loss analysis combined with spatial knowledge of each wireless sensor

Sensor fusion for tangible acoustic interfaces for human computer intreraction

This thesis presents the development of tangible acoustic interfaces for human computer interaction. The method adopted was to position sensors on the surface of a solid object to detect acoustic waves generated during an interaction, process the sensor signals and estimate either the location of a discrete impact or the trajectory of a moving point of contact on the surface. Higher accuracy and reliability were achieved by employing sensor fusion to combine the information collected from redundant sensors electively positioned on the solid object. Two different localisation approaches are proposed in the thesis. The learning-based approach is employed to detect discrete impact positions. With this approach, a signature vector representation of time-series patterns from a single sensor is matched with database signatures for known impact locations. For improved reliability, a criterion is proposed to extract the location signature from two vectors. The other approach is based on the Time Difference of Arrival (TDOA) of a source signal captured by a spatially distributed array of sensors. Enhanced positioning algorithms that consider near-field scenario, dispersion, optimisation and filtration are proposed to tackle the problems of passive acoustic localisation in solid objects. A computationally efficient algorithm for tracking a continuously moving source is presented. Spatial filtering of the estimated trajectory has been performed using Kalman filtering with automated initialisation

Hybrid Marker-less Camera Pose Tracking with Integrated Sensor Fusion

This thesis presents a framework for a hybrid model-free marker-less inertial-visual camera pose tracking with an integrated sensor fusion mechanism. The proposed solution addresses the fundamental problem of pose recovery in computer vision and robotics and provides an improved solution for wide-area pose tracking that can be used on mobile platforms and in real-time applications. In order to arrive at a suitable pose tracking algorithm, an in-depth investigation was conducted into current methods and sensors used for pose tracking. Preliminary experiments were then carried out on hybrid GPS-Visual as well as wireless micro-location tracking in order to evaluate their suitability for camera tracking in wide-area or GPS-denied environments. As a result of this investigation a combination of an inertial measurement unit and a camera was chosen as the primary sensory inputs for a hybrid camera tracking system. After following a thorough modelling and mathematical formulation process, a novel and improved hybrid tracking framework was designed, developed and evaluated. The resulting system incorporates an inertial system, a vision-based system and a recursive particle filtering-based stochastic data fusion and state estimation algorithm. The core of the algorithm is a state-space model for motion kinematics which, combined with the principles of multi-view camera geometry and the properties of optical flow and focus of expansion, form the main components of the proposed framework. The proposed solution incorporates a monitoring system, which decides on the best method of tracking at any given time based on the reliability of the fresh vision data provided by the vision-based system, and automatically switches between visual and inertial tracking as and when necessary. The system also includes a novel and effective self-adjusting mechanism, which detects when the newly captured sensory data can be reliably used to correct the past pose estimates. The corrected state is then propagated through to the current time in order to prevent sudden pose estimation errors manifesting as a permanent drift in the tracking output. Following the design stage, the complete system was fully developed and then evaluated using both synthetic and real data. The outcome shows an improved performance compared to existing techniques, such as PTAM and SLAM. The low computational cost of the algorithm enables its application on mobile devices, while the integrated self-monitoring, self-adjusting mechanisms allow for its potential use in wide-area tracking applications

Monitoring, Modelling and Management of Water Quality

Different types of pressures, such as nutrients, micropollutants, microbes, nanoparticles, microplastics, or antibiotic-resistant genes, endanger the quality of water bodies. Evidence-based pollution control needs to be built on the three basic elements of water governance: Monitoring, modeling, and management. Monitoring sets the empirical basis by providing space- and time-dependent information on substance concentrations and loads, as well as driving boundary conditions for assessing water quality trends, water quality statuses, and providing necessary information for the calibration and validation of models. Modeling needs proper system understanding and helps to derive information for times and locations where no monitoring is done or possible. Possible applications are risk assessments for exceedance of quality standards, assessment of regionalized relevance of sources and pathways of pollution, effectiveness of measures, bundles of measures or policies, and assessment of future developments as scenarios or forecasts. Management relies on this information and translates it in a socioeconomic context into specific plans for implementation. Evaluation of success of management plans again includes well-defined monitoring strategies. This book provides an important overview in this context