Ultra-wideband Based Indoor Localization of Mobile Nodes in ToA and TDoA Configurations

Zandian R. Ultra-wideband Based Indoor Localization of Mobile Nodes in ToA and TDoA Configurations. Bielefeld: Universität Bielefeld; 2019.This thesis discusses the utilization of ultra-wideband (UWB) technology in indoor localization scenarios and proposes system setup and evaluates different localization algorithms in order to improve the localization accuracy and stability of such systems in non-ideal conditions of the indoor environment. Recent developments and advances of technology in the areas of ubiquitous Internet, robotics and internet of things (IoT) have resulted in emerging new application areas in daily life in which localization systems are vital. The significant demand for a robust and accurate localization system that is applicable in indoor areas lacking satellites link, can be sensed. The UWB technology offers accurate localization systems with an accuracy of below 10 cm and covering the range of up to a few hundred meters thanks to their dedicated large bandwidth, modulation technique and signal power. In this thesis, the technology behind the UWB systems is discussed in detail. In terms of localization topologies, different scenarios with the focus on time-based methods are introduced. The main focus of this thesis is on the differential time of arrival localization systems (TDoA) with unilateral constellation that is suitable for robotic localization and navigation applications. A new approach for synchronization of TDoA topology is proposed and influence of clock inaccuracies in such systems are thoroughly evaluated. For localization engine, two groups of static and dynamic iterative algorithms are introduced. Among the possible dynamic methods, extended Kalman filter (EKF), H∞ and unscented Kalman filter (UKF) are discussed and meticulously evaluated. In order to tackle the non-line of sight (NLOS) problem of such systems, for detection stage several solutions which are based on parametric machine learning methods are proposed. Furthermore, for mitigation phase two solutions namely adjustment of measurement variance and innovation term are suggested. Practical results prove the efficiency and high reliability of the proposed algorithms with positive NLOS condition detection rate of more than 87%. In practical trials, the localization system is evaluated in indoor and outdoor arenas in both line of sight and non-line of sight conditions. The results show that the proposed detection and mitigation methods can be successfully applied for both small and large-scale arenas with the higher performance of the localization filters in terms of accuracy in large-scale scenarios

Realization Limits of Impulse-Radio UWB Indoor Localization Systems

In this work, the realization limits of an impulse-based Ultra-Wideband (UWB) localization system for indoor applications have been thoroughly investigated and verified by measurements. The analysis spans from the position calculation algorithms, through hardware realization and modeling, up to the localization experiments conducted in realistic scenarios. The main focus was put on identification and characterization of limiting factors as well as developing methods to overcome them

Advanced Trends in Wireless Communications

Physical limitations on wireless communication channels impose huge challenges to reliable communication. Bandwidth limitations, propagation loss, noise and interference make the wireless channel a narrow pipe that does not readily accommodate rapid flow of data. Thus, researches aim to design systems that are suitable to operate in such channels, in order to have high performance quality of service. Also, the mobility of the communication systems requires further investigations to reduce the complexity and the power consumption of the receiver. This book aims to provide highlights of the current research in the field of wireless communications. The subjects discussed are very valuable to communication researchers rather than researchers in the wireless related areas. The book chapters cover a wide range of wireless communication topics

A supporting infrastructure for Wireless Sensor Networks in Critical Industrial Environments

Tese de doutoramento no Programa de Doutoramento em Ciências e Tecnologias da Informação apresentada à Faculdade de Ciências e Tecnologia da Universidade de Coimbra.As Redes de Sensores Sem Fios (RSSFs) têm uma aplicabilidade muito elevada nas mais diversas áreas, como na indústria, nos sistemas militares, na saúde e nas casas inteligentes. No entanto, continuam a existir várias limitações que impedem que esta tecnologia tenha uma utilização extensiva. A fiabilidade é uma destas principais limitações que tem atrasado a adopção das RSSFs em ambientes industriais, principalmente quando sujeitos a elevadas interferências e ruídos. Por outro lado, a interoperabilidade é também um dos principais requisitos a cumprir nomeadamente com o avanço para o paradigma da Internet of Things. A determinação da localização dos nós, principalmente dos nós móveis, é, também ele, um requisito crítico em muitas aplicações. Esta tese de doutoramento propõe novas soluções para a integração e para a localização de RSSFs que operem em ambientes industriais e críticos. Como os nós sensores são, na maioria das vezes, instalados e deixados sem intervenção humana durante longos períodos de tempo, isto é, meses ou mesmo anos, é muito importante oferecer processos de comunicação fiável. No entanto, muitos problemas ocorrem durante a transmissão dos pacotes, nomeadamente devido a ruídos, interferências e perda de potência do sinal. A razão das interferências deve-se à existência de mais do que uma rede ou ao espalhamento espectral que ocorre em determinadas frequências. Este tipo de problemas é mais severo em ambientes dinâmicos nos quais novas fontes de ruído pode ser introduzidas em qualquer instante de tempo, nomeadamente com a chegadas de novos dispositivos ao meio. Consequentemente, é necessário que as RSSFs tenham a capacidade de lidar com as limitações e as falhas nos processos de comunicação. O protocolo Dynamic MAC (DunMAC) proposto nesta dissertação utiliza técnicas de rádio cognitivo (CR) para que a RSSF se adapte, de forma dinâmica, a ambientes instáveis e ruidosos através da selecção automática do melhor canal durante o período de operação. As RSSFs não podem operar em isolação completa do meio, e necessitam de ser monitoradas e controladas por aplicações externas. Apesar de ser possível adicionar a pilha protocolar IP aos nós sensores, este procedimento não é adequado para muitas aplicações. Para estes casos, os modelos baseados em gateway ou proxies continuam a apresentar-se preferíveis para o processo de integração. Um dos desafios existentes para estes processos de integração é a sua adaptabilidade, isto é, a capacidade da gateway ou do proxy poder ser reutilizado sem alterações por outras aplicações. A razão desta limitação deve-se aos consumidores finais dos dados serem aplicações e não seres humanos. Logo, é difícil ou mesmo impossível criar normas para as estruturas de dados dada a infinidade de diferentes formatos. É então desejável encontrar uma solução que permita uma integração transparente de diferentes RSSFs e aplicações. A linguagem Sensor Traffic Description Language (STDL) proposta nesta dissertação propõe uma solução para esta integração através de gateways e proxies flexíveis e adaptados à diversidade de aplicações, e sem recorrer à reprogramação. O conhecimento da posição dos nós sensores é, também ele, crítico em muitas aplicações industriais como no controlo da deslocação dos objectos ou trabalhadores. Para além do mais, a maioria dos valores recolhidos dos sensores só são úteis quando acompanhados pelo conhecimento do local onde esses valores foram recolhidos. O Global Positioning Systems (GPS) é a mais conhecida solução para a determinação da localização. No entanto, o recurso ao GPS em cada nó sensor continua a ser energeticamente ineficiente e impraticável devido aos custos associados. Para além disso, os sistemas GPS não são apropriados para ambientes in-door. Este trabalho de doutoramento propõe-se actuar nestas áreas. Em particular, é proposto, implementado e avaliado o protocolo DynMAC para oferecer fiabilidade às RSSFs. Para a segunda temática, a linguagem STDL e o seu motor são propostos para suportar a integração de ambientes heterogéneos de RSSFs e aplicações. As soluções propostas não requerem reprogramação e suportam também serviços de localização nas RSSFs. Diferentes métodos de localização foram avaliados para estimar a localização dos nós. Assim, com estes métodos as RSSFs podem ser usadas como componentes para integrar e suportar a Futura Internet. Todas as soluções propostas nesta tese foram implementadas e validadas tanto em simulação com em plataformas práticas, laboratoriais e industriais.The Wireless Sensor Network (WSN) has a countless number of applications in almost all of the fields including military, industrial, healthcare, and smart home environments. However, there are several problems that prevent the widespread of sensor networks in real situations. Among them, the reliability of communication especially in noisy industrial environments is difficult to guarantee. In addition, interoperability between the sensor networks and external applications is also a challenge. Moreover, determining the position of nodes, particularly mobile nodes, is a critical requirement in many types of applications. My original contributions in this thesis include reliable communication, integration, localization solutions for WSNs operating in industrial and critical environments. Because sensor nodes are usually deployed and kept unattended without human intervention for a long duration, e.g. months or even years, it is a crucial requirement to provide the reliable communication for the WSNs. However, many problems arise during packet transmission and are related to the transmission medium (e.g. signal path-loss, noise and interference). Interference happens due to the existence of more than one network or by the spectral spread that happens in some frequencies. This type of problem is more severe in dynamic environments in which noise sources can be introduced at any time or new networks and devices that interfere with the existing one may be added. Consequently, it is necessary for the WSNs to have the ability to deal with the communication failures. The Dynamic MAC (DynMAC) protocol proposed in this thesis employs the Cognitive Radio (CR) techniques to allow the WSNs to adapt to the dynamic noisy environments by automatically selecting the best channel during its operation time. The WSN usually cannot operate in complete isolation, but it needs to be monitored, controlled and visualized by external applications. Although it is possible to add an IP protocol stack to sensor nodes, this approach is not appropriate for many types of WSNs. Consequently, the proxy and gateway approach is still a preferred method for integrating sensor networks with external networks and applications. The problem of the current integration solutions for WSNs is the adaptability, i.e., the ability of the gateway or proxy developed for one sensor network to be reused, unchanged, for others which have different types of applications and data frames. One reason behind this problem is that it is difficult or even impossible to create a standard for the structure of data inside the frame because there are such a huge number of possible formats. Consequently, it is necessary to have an adaptable solution for easily and transparently integrating WSNs and application environments. In this thesis, the Sensor Traffic Description Language (STDL) was proposed for describing the structure of the sensor networks’ data frames, allowing the framework to be adapted to a diversity of protocols and applications without reprogramming. The positions of sensor nodes are critical in many types of industrial applications such as object tracking, location-aware services, worker or patient tracking, etc. In addition, the sensed data is meaningless without the knowledge of where it is obtained. Perhaps the most well-known location-sensing system is the Global Positioning System (GPS). However, equipping GPS sensor for each sensor node is inefficient or unfeasible for most of the cases because of its energy consumption and cost. In addition, GPS is not appropriate in some environments, e.g., indoors. Similar to the original concept of WSNs, the localization solution should also be cheap and with low power consumption. This thesis aims to deal with the above problems. In particular, in order to add the reliability for WSN, DynMAC protocol was proposed, implemented and evaluated. This protocol adds a mechanism to automatically deal with the noisy and changeable environments. For the second problem, the STDL and its engine provide the adaptable capability to the framework for interoperation between sensor networks and external applications. The proposed framework requires no reprogramming when deploying it for new applications and protocols of WSNs. Moreover, the framework also supports localization services for positioning the unknown position sensor nodes in WSNs. The different localization methods are employed to estimate the location of mobile nodes. With the proposed framework, WSNs can be used as plug and play components for integrating with the Future Internet. All the proposed solutions were implemented and validated using simulation and real testbeds in both the laboratory and industrial environments