37 research outputs found
3-D Hybrid Localization with RSS/AoA in Wireless Sensor Networks: Centralized Approach
This dissertation addresses one of the most important issues present in Wireless Sensor Networks (WSNs), which is the sensor’s localization problem in non-cooperative and cooperative 3-D WSNs, for both cases of known and unknown source transmit power PT .
The localization of sensor nodes in a network is essential data. There exists a large
number of applications for WSNs and the fact that sensors are robust, low cost and do
not require maintenance, makes these types of networks an optimal asset to study or
manage harsh and remote environments. The main objective of these networks is to
collect different types of data such as temperature, humidity, or any other data type,
depending on the intended application. The knowledge of the sensors’ locations is a key feature for many applications; knowing where the data originates from, allows to take particular type of actions that are suitable for each case.
To face this localization problem a hybrid system fusing distance and angle measurements is employed. The measurements are assumed to be collected through received signal strength indicator and from antennas, extracting the received signal strength (RSS) and angle of arrival (AoA) information. For non-cooperativeWSN, it resorts to these measurements models and, following the least squares (LS) criteria, a non-convex estimator is developed. Next, it is shown that by following the square range (SR) approach, the estimator can be transformed into a general trust region subproblem (GTRS) framework. For cooperative WSN it resorts also to the measurement models mentioned above and it is shown that the estimator can be converted into a convex problem using semidefinite programming (SDP) relaxation techniques.It is also shown that the proposed estimators have a straightforward generalization from the known PT case to the unknown PT case. This generalization is done by making use of the maximum likelihood (ML) estimator to compute the value of the PT .
The results obtained from simulations demonstrate a good estimation accuracy, thus
validating the exceptional performance of the considered approaches for this hybrid
localization system
Design and theoretical analysis of advanced power based positioning in RF system
Accurate locating and tracking of people and resources has become a fundamental requirement for many applications. The global navigation satellite systems (GNSS) is widely used. But its accuracy suffers from signal obstruction by buildings, multipath fading, and disruption due to jamming and spoof. Hence, it is required to supplement GPS with inertial sensors and indoor localization schemes that make use of WiFi APs or beacon nodes. In the GPS-challenging or fault scenario, radio-frequency (RF) infrastructure based localization schemes can be a fallback solution for robust navigation. For the indoor/outdoor transition scenario, we propose hypothesis test based fusion method to integrate multi-modal localization sensors. In the first paper, a ubiquitous tracking using motion and location sensor (UTMLS) is proposed. As a fallback approach, power-based schemes are cost-effective when compared with the existing ToA or AoA schemes. However, traditional power-based positioning methods suffer from low accuracy and are vulnerable to environmental fading. Also, the expected accuracy of power-based localization is not well understood but is needed to derive the hypothesis test for the fusion scheme. Hence, in paper 2-5, we focus on developing more accurate power-based localization schemes. The second paper improves the power-based range estimation accuracy by estimating the LoS component. The ranging error model in fading channel is derived. The third paper introduces the LoS-based positioning method with corresponding theoretical limits and error models. In the fourth and fifth paper, a novel antenna radiation-pattern-aware power-based positioning (ARPAP) system and power contour circle fitting (PCCF) algorithm are proposed to address antenna directivity effect on power-based localization. Overall, a complete LoS signal power based positioning system has been developed that can be included in the fusion scheme --Abstract, page iv
Target Localization and Tracking in Wireless Sensor Networks
This thesis addresses the target localization problem in wireless sensor networks (WSNs) by employing statistical modeling and convex relaxation techniques. The first and the second part of the thesis focus on received signal strength (RSS)- and RSS-angle of arrival (AoA)-based target localization problem, respectively. Both non-cooperative and cooperative WSNs are investigated and various settings of the localization problem are of interest (e.g. known and unknown target transmit power, perfectly and imperfectly known path loss exponent). For all cases, maximum likelihood (ML) estimation problem is first formulated.
The general idea is to tightly approximate the ML estimator by another one whose
global solution is a close representation of the ML solution, but is easily obtained due to greater smoothness of the derived objective function. By applying certain relaxations, the solution to the derived estimator is readily obtained through general-purpose solvers. Both centralized (assumes existence of a central node that collects all measurements and carries out all necessary processing for network mapping) and distributed (each target determines its own location by iteratively solving a local representation of the derived estimator) algorithms are described. More specifically, in the case of centralized RSS-based localization, second-order cone programming (SOCP) and semidefinite programming (SDP) estimators are derived by applying SOCP and SDP relaxation techniques in non-cooperative and cooperative WSNs, respectively. It is also shown that the derived SOCP estimator can be extended for distributed implementation in cooperative WSNs. In the second part of the thesis, derivation procedure of a weighted least squares (WLS) estimator by converting the centralized non-cooperative RSS-AoA localization problem into a generalized trust region
sub-problem (GTRS) framework, and an SDP estimator by applying SDP relaxations to
the centralized cooperative RSS-AoA localization problem are described. Furthermore, a distributed SOCP estimator is developed, and an extension of the centralized WLS estimator for non-cooperative WSNs to distributed conduction in cooperative WSNs is also presented. The third part of the thesis is committed to RSS-AoA-based target tracking problem. Both cases of target tracking with fixed/static anchors and mobile sensors are investigated. First, the non-linear measurement model is linearized by applying Cartesian to polar coordinates conversion. Prior information extracted from target transition model is then added to the derived model, and by following maximum a posteriori (MAP) criterion, a MAP algorithm is developed. Similarly, by taking advantage of the derived model and the prior knowledge, Kalman filter (KF) algorithm is designed. Moreover, by allowing sensor mobility, a simple navigation routine for sensors’ movement management is described, which significantly enhances the estimation accuracy of the presented algorithms even for a reduced number of sensors.
The described algorithms are assessed and validated through simulation results and
real indoor measurements
Towards the Next Generation of Location-Aware Communications
This thesis is motivated by the expected implementation of the
next generation mobile networks (5G) from 2020, which is being
designed with a radical paradigm shift towards millimeter-wave
technology (mmWave). Operating in 30--300 GHz frequency band
(1--10 mm wavelengths), massive antenna arrays that provide a
high angular resolution, while being packed on a small area will
be used. Moreover, since the abundant mmWave spectrum is barely
occupied, large bandwidth allocation is possible and will enable
low-error time estimation. With this high spatiotemporal
resolution, mmWave technology readily lends itself to extremely
accurate localization that can be harnessed in the network design
and optimization, as well as utilized in many modern
applications. Localization in 5G is still in early stages, and
very little is known about its performance and feasibility.
In this thesis, we contribute to the understanding of 5G mmWave
localization by focusing on challenges pertaining to this
emerging technology. Towards that, we start by considering a
conventional cellular system and propose a positioning method
under outdoor LOS/NLOS conditions that, although approaches the
Cram\'er-Rao lower bound (CRLB), provides accuracy in the order
of meters. This shows that conventional systems have limited
range of location-aware applications. Next, we focus on mmWave
localization in three stages. Firstly, we tackle the initial
access (IA) problem, whereby user equipment (UE) attempts to
establish a link with a base station (BS). The challenge in this
problem stems from the high directivity of mmWave. We investigate
two beamforming schemes: directional and random. Subsequently, we
address 3D localization beyond IA phase. Devices nowadays have
higher computational capabilities and may perform localization in
the downlink. However, beamforming on the UE side is sensitive to
the device orientation. Thus, we study localization in both the
uplink and downlink under multipath propagation and derive the
position (PEB) and orientation error bounds (OEB). We also
investigate the impact of the number of antennas and the number
of beams on these bounds. Finally, the above components assume
that the system is synchronized. However, synchronization in
communication systems is not usually tight enough for
localization. Therefore, we study two-way localization as a means
to alleviate the synchronization requirement and investigate two
protocols: distributed (DLP) and centralized (CLP).
Our results show that random-phase beamforming is more
appropriate IA approach in the studied scenarios. We also observe
that the uplink and downlink are not equivalent, in that the
error bounds scale differently with the number of antennas, and
that uplink localization is sensitive to the UE orientation,
while downlink is not. Furthermore, we find that NLOS paths
generally boost localization. The investigation of the two-way
protocols shows that CLP outperforms DLP by a significant margin.
We also observe that mmWave localization is mainly limited by
angular rather than temporal estimation.
In conclusion, we show that mmWave systems are capable of
localizing a UE with sub-meter position error, and sub-degree
orientation error, which asserts that mmWave will play a central
role in communication network optimization and unlock
opportunities that were not available in the previous generation
Composite Disturbance Filtering: A Novel State Estimation Scheme for Systems With Multi-Source, Heterogeneous, and Isomeric Disturbances
State estimation has long been a fundamental problem in signal processing and
control areas. The main challenge is to design filters with ability to reject
or attenuate various disturbances. With the arrival of big data era, the
disturbances of complicated systems are physically multi-source, mathematically
heterogenous, affecting the system dynamics via isomeric (additive,
multiplicative and recessive) channels, and deeply coupled with each other. In
traditional filtering schemes, the multi-source heterogenous disturbances are
usually simplified as a lumped one so that the "single" disturbance can be
either rejected or attenuated. Since the pioneering work in 2012, a novel state
estimation methodology called {\it composite disturbance filtering} (CDF) has
been proposed, which deals with the multi-source, heterogenous, and isomeric
disturbances based on their specific characteristics. With the CDF, enhanced
anti-disturbance capability can be achieved via refined quantification,
effective separation, and simultaneous rejection and attenuation of the
disturbances. In this paper, an overview of the CDF scheme is provided, which
includes the basic principle, general design procedure, application scenarios
(e.g. alignment, localization and navigation), and future research directions.
In summary, it is expected that the CDF offers an effective tool for state
estimation, especially in the presence of multi-source heterogeneous
disturbances
New mobile positioning techniques for LOS/NLOS environments and investigation of topology influence
The advent of wireless location technology and the increase in location-based services, has meant the need to investigate efficient network-based location methods becoming of paramount importance. Therefore, the interest in wireless positioning techniques has been increasing over recent decades. Among mobile positioning techniques, the Time of Arrival (TOA) and Time Difference of Arrival (TDOA) look promising. For the purpose of dealing with such technologies, some classic algorithms such as least square, most likelihood and Taylor method have been used to solve the estimation, which distinguishes the location. However, in real practice, there are certain factors that influence the level of location accuracy. The two most significant factors are cellular topologies and non-line-of-sight (NLOS) effect.
This thesis reviews existing approaches and suggests innovative methods for both line-of-sight (LOS) and NLOS scenarios. A simulation platform is designed to test and compare the performances of these algorithms. The results of the simulation compared with actual position measurements demonstrate that the innovative approaches have high positioning accuracy. Additionally, this thesis demonstrates different types of cellular topologies and develops a simulation to show how the cellular topology affects the positioning quality level. Finally, this thesis implements an experiment to exhibit how the innovative algorithms perform in the real world
LiFi Transceiver Designs for 6G Wireless Networks
Due to the dramatic increase in high data rate services, and in order to meet the demands of the sixth-generation (6G) wireless networks, researchers from both academia and industry have been exploring advanced transmission techniques, new network archi-
tectures and new frequency bands, such as the millimeter wave (mmWave), the infrared, and the visible light bands. Light-fdelity (LiFi) particularly is an emerging, novel, bidirectional, high-speed and fully networked optical wireless communication (OWC) technology that has been introduced as a promising solution for 6G networks, especially for indoor connectivity, owing to the large unexploited spectrum that translates to signifcantly high data rates.
Although there has been a big leap in the maturity of the LiFi technology, there is still a considerable gap between the available LiFi technology and the required demands of 6G networks. Motivated by this, this dissertation aims to bridge between the current research literature of LiFi and the expected demands of 6G networks. Specifcally, the key goal of this dissertation is to fll some shortcomings in the LiFi technology, such as channel modeling, transceiver designs, channel state information (CSI) acquisition, localization, quality-of-service (QoS), and performance optimization. Our work is devoted to address and solve some of these limitations. Towards achieving this goal, this dissertation makes signifcant contributions to several areas of LiFi. First, it develops novel and measurements-based channel models for LiFi systems that are required for performance analysis and handover management. Second, it proposes a novel design for LiFi devices that is capable of alleviating the real behaviour of users and the impurities of indoor
propagation environments. Third, it proposes intelligent, accurate and fast joint position and orientation techniques for LiFi devices, which improve the CSI estimation process and boost the indoor location-based and navigation-based services. Then, it proposes novel proactive optimization technique that can provide near-optimal and real-time service for indoor mobile LiFi users that are running some services with high data rates, such as extended reality, video conferencing, and real-time video monitoring. Finally, it proposes advanced multiple access techniques that are capable of cancelling the efects of interference in indoor multi-user settings. The studied problems are tackled using various tools from probability and statistic theory, system design and integration theory, optimization theory, and deep learning. The Results demonstrate the efectiveness of the proposed designs, solutions, and techniques. Nevertheless, the fndings in this dissertation highlight key guidelines for the efective design of LiFi while considering their unique propagation
features
Robust, Energy-Efficient, and Scalable Indoor Localization with Ultra-Wideband Technology
Ultra-wideband (UWB) technology has been rediscovered in recent years for its potential to provide centimeter-level accuracy in GNSS-denied environments. The large-scale adoption of UWB chipsets in smartphones brings demanding needs on the energy-efficiency, robustness, scalability, and crossdevice compatibility of UWB localization systems. This thesis investigates, characterizes, and proposes several solutions for these pressing concerns. First, we investigate the impact of different UWB device architectures on the energy efficiency, accuracy, and cross-platform compatibility of UWB localization systems. The thesis provides the first comprehensive comparison between the two types of physical interfaces (PHYs) defined in the IEEE 802.15.4 standard: with low and high pulse repetition frequency (LRP and HRP, respectively). In the comparison, we focus not only on the ranging/localization accuracy but also on the energy efficiency of the PHYs. We found that the LRP PHY consumes between 6.4–100 times less energy than the HRP PHY in the evaluated devices. On the other hand, distance measurements acquired with the HRP devices had 1.23–2 times lower standard deviation than those acquired with the LRP devices. Therefore, the HRP PHY might be more suitable for applications with high-accuracy constraints than the LRP PHY.
The impact of different UWB PHYs also extends to the application layer. We found that ranging or localization error-mitigation techniques are frequently trained and tested on only one device and would likely not generalize to different platforms. To this end, we identified four challenges in developing platform-independent error-mitigation techniques in UWB localization, which can guide future research in this direction.
Besides the cross-platform compatibility, localization error-mitigation techniques raise another concern: most of them rely on extensive data sets for training and testing. Such data sets are difficult and expensive to collect and often representative only of the precise environment they were collected in. We propose a method to detect and mitigate non-line-of-sight (NLOS) measurements that does not require any manually-collected data sets. Instead, the proposed method automatically labels incoming distance measurements based on their distance residuals during the localization process. The proposed detection and mitigation method reduces, on average, the mean and standard deviation of localization errors by 2.2 and 5.8 times, respectively.
UWB and Bluetooth Low Energy (BLE) are frequently integrated in localization solutions since they can provide complementary functionalities: BLE is more energy-efficient than UWB but it can provide location estimates with only meter-level accuracy. On the other hand, UWB can localize targets with centimeter-level accuracy albeit with higher energy consumption than BLE. In this thesis, we provide a comprehensive study of the sources of instabilities in received signal strength (RSS) measurements acquired with BLE devices. The study can be used as a starting point for future research into BLE-based ranging techniques, as well as a benchmark for hybrid UWB–BLE localization systems.
Finally, we propose a flexible scheduling scheme for time-difference of arrival (TDOA) localization with UWB devices. Unlike in previous approaches, the reference anchor and the order of the responding anchors changes every time slot. The flexible anchor allocation makes the system more robust to NLOS propagation than traditional approaches. In the proposed setup, the user device is a passive listener which localizes itself using messages received from the anchors. Therefore, the system can scale with an unlimited number of devices and can preserve the location privacy of the user. The proposed method is implemented on custom hardware using a commercial UWB chipset. We evaluated the proposed method against the standard TDOA algorithm and range-based localization. In line of sight (LOS), the proposed TDOA method has a localization accuracy similar to the standard TDOA algorithm, down to a 95% localization error of 15.9 cm. In NLOS, the proposed TDOA method outperforms the classic TDOA method in all scenarios, with a reduction of up to 16.4 cm in the localization error.Cotutelle -yhteisväitöskirj