Modified Iterated Extended Kalman Filter for Mobile Cooperative Tracking System

Tracking a mobile node using wireless sensor network (WSN) under cooperative system among anchor node and mobile node, has been discussed in this work, interested to the indoor positioning applications. Developing an indoor location tracking system based on received signal strength indicator (RSSI) of WSN is considered cost effective and the simplest method. The suitable technique for estimating position out of RSSI measurements is the extended Kalman filter (EKF) which is especially used for non linear data as RSSI. In order to reduce the estimated errors from EKF algorithm, this work adopted forward data processing of the EKF algorithm to improve the accuracy of the filtering output, its called iterated extended Kalman filter (IEKF). However, using IEKF algorithm should know the stopping criterion value that is influenced to the maximum number iterations of this system. The number of iterations performed will be affected to the computation time although it can improve the estimation position. In this paper, we propose modified IEKF for mobile cooperative tracking system within only 4 iterations number. The ilustrated results using RSSI measurements and simulation in MATLAB show that our propose method have capability to reduce error estimation percentage up to 19.3% , with MSE (mean square error) 0.88 m compared with conventional IEKF algorithm with MSE 1.09 m. The time computation perfomance of our propose method achived in 3.55 seconds which is better than adding more iteration process.     

SISTEM KENDALI PERANGKAT PENGUSIR HAMA TIKUS DAN BURUNG BERBASIS INTERNET OF THINGS (IoT)

Abstract–This final project is designing a remote-control system for rat and bird repellent device based on the Internet of Things (IoT). This system will replace the rat and bird repellent device owned by the University of Surabaya which uses the conventional working which requires the user to interact with the device, like pressing the switch and turning left or right the potentiometer. This system is divided into three sides, namely the user side, the database side, and the device side. On the user side, there is a smartphone application that has interfaces in the form of buttons and selectors. On the database side, there are datasets stored in Firebase and can be updated based on the application used by the user. On the device side, there is an ESP32 microcontroller which reads data from Firebase and sends it to the relay modules in order to control the rat and bird repellent device according to the user's wishes. This final project examines the reaction changes of rats and birds on specific range from the device. Based on the examination, the most visible rats’ reaction’s changes are refusing the feed, while birds are looking for a way out and chirps frequently. Keyword: rat and bird repellent, internet of things (IoT), smartphone app, Firebase, ESP32 microcontroller, relay modules, effective range, reaction changes   Abstrak–Tugas Akhir ini mendesain sistem kendali jarak jauh perangkat pengusir hama tikus dan burung berbasis internet of things (IoT). Sistem ini akan menggantikan perangkat pengusir hama tikus dan burung milik Universitas Surabaya yang masih menggunakan cara kerja konvensional dimana mengharuskan pengguna melakukan interaksi dengan perangkat, yaitu menekan saklar dan memutar potensiometer. Sistem ini dibagi menjadi tiga sisi, yaitu sisi pengguna, sisi database, dan sisi perangkat. Pada sisi pengguna, terdapat sebuah aplikasi smartphone yang memiliki interfaces berupa tombol dan selektor. Pada sisi database, terdapat kumpulan data yang disimpan dalam Firebase dan dapat diperbaharui berdasarkan aplikasi yang digunakan oleh pengguna. Pada sisi perangkat, terdapat sebuah mikrokontroler ESP32 yang membaca data dari Firebase dan disalurkan ke modul relay untuk mengendalikan perangkat pengusir hama tikus dan burung sesuai keinginan pengguna. Tugas akhir ini menguji perubahan perilaku tikus dan burung terhadap jarak dengan perangkat. Berdasarkan pengujian yang dilakukan, perubahan perilaku tikus yang paling nampak adalah tidak makan, sedangkan burung akan bergerak aktif mencari jalan keluar dan lebih sering berkicau. Kata Kunci: pengusir hama tikus dan burung, internet of things (IoT), aplikasi smartphone, Firebase, mikrokontroler ESP32, modul relay, jarak jangkauan efekti

Hybrid Filter Scheme for Optimizing Indoor Mobile Cooperative Tracking System

The precise indoor tracking system using Xbee signal strength protocol has become a potential research to the WSN applications. The main aspects for the success tracking system is accuracy performance based on location estimation. The improvement of location estimation is complicated issue, especially using RSSI with low accuracy due to the signal attenuation from multipath effect at indoor propagation. Hence, many existing research typically focused on specific methods for providing improvement schemes at tracking system area. Then, we propose hybrid filter schemes, including extended gradient filter (EGF) for filtering noise signal based distance modification, and modified extended Kalman filter (MIEKF) will be combined with trilateration for filtering the error position estimation. Using mobile cooperative tracking scenario refers to our previous work, the proposed hybrid filter scheme which is called modified iterated extended gradient Kalman filter (MIEGKF) can optimize the error estimation around 41.28% reduction with 0.63 meters MSE (mean square error) value

Trilateration Method for Estimating Location in RSSI-Based Indoor Positioning System Using Zigbee Protocol

Wireless network technology that is used today is developing rapidly because of the increase needed for location information of an object with high accuracy. Global Positioning System (GPS) is a technology to estimate the current location. Unfortunately, GPS has a lack of accuracy around 10 meters when used indoors. Therefore, it began to be developed with the concept of an indoor positioning system. This is a technology used to estimate the location of objects in a building by utilizing WSN (Wireless Sensor Network). The purpose of this study is to estimate the location of the unknown nodes in the lecturer room as objects and obtain the accuracy of the system being tested. The positioning process is based on the received signal strength (RSSI) on the unknown node using the ZigBee module. The trilateration method is used to estimate the unknown nodes located at the observation area based on the signal strength received at the time of testing. The result shows that the path loss coefficient value at the observation area was 0.9836 and the Mean Square Error of the test was 1.54 meters, which implies that the system can be a solution to the indoor GPS problem.Wireless network technology that is used today is developing rapidly because of the increase needed for location information of an object with high accuracy. Global Positioning System (GPS) is a technology to estimate the current location. Unfortunately, GPS has a lack of accuracy around 10 meters when used indoors. Therefore, it began to be developed with the concept of an indoor positioning system. This is a technology used to estimate the location of objects in a building by utilizing WSN (Wireless Sensor Network). The purpose of this study is to estimate the location of the unknown nodes in the lecturer room as objects and obtain the accuracy of the system being tested. The positioning process is based on the received signal strength (RSSI) on the unknown node using the ZigBee module. The trilateration method is used to estimate the unknown nodes located at the observation area based on the signal strength received at the time of testing. The result shows that the path loss coefficient value at the observation area was 0.9836 and the Mean Square Error of the test was 1.54 meters, which implies that the system can be a solution to the indoor GPS problem

Performance Analysis of Scheduling Schemes for Femto to Macro Interference Coordination in LTE-Femtocell Deployment Scenario

Deploying femtocells that have low power level in LTE with small coverage area is an alternative solution for mobile operators to improve indoors network coverage area as well as system capacity. However deploying femtocells (HeNB) that were used co-channel frequency, can be brought about interference problem to the Macro BTS (eNB). Close Subscriber Group (CSG) of HeNB allows only User equipment (UE) to access HeNB. HeNB is the source of interference for UE who cannot access it. Therefore it is necessary for interference coordination methods among the HeNB and eNB. The methods are ICIC (Intercell Interference Coordination) and eICIC (enhanced Intercell Interference Coordination).  This paper proposed performance analysis of scheduling schemes for Femto to macro interference coordination that allocated resource in the frequency and time domain using LTE-Femtocell suburban and urban deployment scenario. Simulation result using ICIC methods can improve SINR performance 15.77 % in urban and 28.66 % in suburban, throughput performance 10.11 % in urban and 21.05 % in suburban. eICIC methods can improve SINR performance 17.44 % in urban and 31.14 % in suburban, throughput performance 19.83% in urban and 44.39 % in suburban.The result prove using eICIC method in time domain resource have better performance than using ICIC method in frequency resource. However using eICIC method in suburban deployment scenariocan increase the performance of SINR and throughput more effective than using eICIC method in urban deployment scenario

SISTEM KENDALI PERANGKAT PENGUSIR HAMA TIKUS DAN BURUNG BERBASIS INTERNET OF THINGS (IoT)

Abstract–This final project is designing a remote-control system for rat and bird repellent device based on the Internet of Things (IoT). This system will replace the rat and bird repellent device owned by the University of Surabaya which uses the conventional working which requires the user to interact with the device, like pressing the switch and turning left or right the potentiometer. This system is divided into three sides, namely the user side, the database side, and the device side. On the user side, there is a smartphone application that has interfaces in the form of buttons and selectors. On the database side, there are datasets stored in Firebase and can be updated based on the application used by the user. On the device side, there is an ESP32 microcontroller which reads data from Firebase and sends it to the relay modules in order to control the rat and bird repellent device according to the user's wishes. This final project examines the reaction changes of rats and birds on specific range from the device. Based on the examination, the most visible rats’ reaction’s changes are refusing the feed, while birds are looking for a way out and chirps frequently. Keyword: rat and bird repellent, internet of things (IoT), smartphone app, Firebase, ESP32 microcontroller, relay modules, effective range, reaction changes   Abstrak–Tugas Akhir ini mendesain sistem kendali jarak jauh perangkat pengusir hama tikus dan burung berbasis internet of things (IoT). Sistem ini akan menggantikan perangkat pengusir hama tikus dan burung milik Universitas Surabaya yang masih menggunakan cara kerja konvensional dimana mengharuskan pengguna melakukan interaksi dengan perangkat, yaitu menekan saklar dan memutar potensiometer. Sistem ini dibagi menjadi tiga sisi, yaitu sisi pengguna, sisi database, dan sisi perangkat. Pada sisi pengguna, terdapat sebuah aplikasi smartphone yang memiliki interfaces berupa tombol dan selektor. Pada sisi database, terdapat kumpulan data yang disimpan dalam Firebase dan dapat diperbaharui berdasarkan aplikasi yang digunakan oleh pengguna. Pada sisi perangkat, terdapat sebuah mikrokontroler ESP32 yang membaca data dari Firebase dan disalurkan ke modul relay untuk mengendalikan perangkat pengusir hama tikus dan burung sesuai keinginan pengguna. Tugas akhir ini menguji perubahan perilaku tikus dan burung terhadap jarak dengan perangkat. Berdasarkan pengujian yang dilakukan, perubahan perilaku tikus yang paling nampak adalah tidak makan, sedangkan burung akan bergerak aktif mencari jalan keluar dan lebih sering berkicau. Kata Kunci: pengusir hama tikus dan burung, internet of things (IoT), aplikasi smartphone, Firebase, mikrokontroler ESP32, modul relay, jarak jangkauan efekti

SISTEM KENDALI PERANGKAT PENGUSIR HAMA TIKUS DAN BURUNG BERBASIS INTERNET OF THINGS (IoT)

Abstract–This final project is designing a remote-control system for rat and bird repellent device based on the Internet of Things (IoT). This system will replace the rat and bird repellent device owned by the University of Surabaya which uses the conventional working which requires the user to interact with the device, like pressing the switch and turning left or right the potentiometer. This system is divided into three sides, namely the user side, the database side, and the device side. On the user side, there is a smartphone application that has interfaces in the form of buttons and selectors. On the database side, there are datasets stored in Firebase and can be updated based on the application used by the user. On the device side, there is an ESP32 microcontroller which reads data from Firebase and sends it to the relay modules in order to control the rat and bird repellent device according to the user's wishes. This final project examines the reaction changes of rats and birds on specific range from the device. Based on the examination, the most visible rats’ reaction’s changes are refusing the feed, while birds are looking for a way out and chirps frequently. Keyword: rat and bird repellent, internet of things (IoT), smartphone app, Firebase, ESP32 microcontroller, relay modules, effective range, reaction changes   Abstrak–Tugas Akhir ini mendesain sistem kendali jarak jauh perangkat pengusir hama tikus dan burung berbasis internet of things (IoT). Sistem ini akan menggantikan perangkat pengusir hama tikus dan burung milik Universitas Surabaya yang masih menggunakan cara kerja konvensional dimana mengharuskan pengguna melakukan interaksi dengan perangkat, yaitu menekan saklar dan memutar potensiometer. Sistem ini dibagi menjadi tiga sisi, yaitu sisi pengguna, sisi database, dan sisi perangkat. Pada sisi pengguna, terdapat sebuah aplikasi smartphone yang memiliki interfaces berupa tombol dan selektor. Pada sisi database, terdapat kumpulan data yang disimpan dalam Firebase dan dapat diperbaharui berdasarkan aplikasi yang digunakan oleh pengguna. Pada sisi perangkat, terdapat sebuah mikrokontroler ESP32 yang membaca data dari Firebase dan disalurkan ke modul relay untuk mengendalikan perangkat pengusir hama tikus dan burung sesuai keinginan pengguna. Tugas akhir ini menguji perubahan perilaku tikus dan burung terhadap jarak dengan perangkat. Berdasarkan pengujian yang dilakukan, perubahan perilaku tikus yang paling nampak adalah tidak makan, sedangkan burung akan bergerak aktif mencari jalan keluar dan lebih sering berkicau. Kata Kunci: pengusir hama tikus dan burung, internet of things (IoT), aplikasi smartphone, Firebase, mikrokontroler ESP32, modul relay, jarak jangkauan efekti

Self-monitoring and self-alarm social distancing system based on BLE ESP32

The COVID-19 pandemic is still out there, and in mid-2022, diseases such as monkeypox and tomato flu outbreak in UK and India, respectively. Those diseases are also spread through physical contact. Therefore, it is critical to do social distancing, especially since the restrictions are no longer enforced. This study developed a system for self-monitoring and self-alarm when people approach within a radius of 1 meter on the university campuses environement. The distance monitoring system utilizes BLE on the ESP32 microcontroller. Based on the RSSI, a radius of 1 meter is detected with -71 dBm to -75 dBm RSSI. The Android app is designed using MIT Inventor to evaluate anyone who approaches in a day, and this can help trace if anyone is indicated to have COVID-19. Lastly, this device is designed with comfortable consideration in the user's pocket when sitting, standing, or driving a vehicle

An enhanced trilateration algorithm for indoor RSSI based positioning system using zigbee protocol

The location information of the object based on wireless communication has a significant role in several Wireless Sensor Network (WSN) applications. Some applications require the appropriate details on the object’s position. The advantages of Zigbee as part of Radio Frequency (RF) technology include inexpensive, broad scalability, sufficient availability, and suitability for Indoor Positioning System (IPS) topology. In this paper, we propose IPS using a Received Signal Strength Indicator (RSSI) based Zigbee protocol. The proposed approach is based on the enhancement of the Trilateration algorithm. The main concept of conventional trilateration is using the three strongest RSSI from the reference node. However, the instability from measured RSSI influenced its estimation result. Therefore, quadratic weighted is added to this proposed scheme as the enhanced trilateration algorithm. The estimated distance output from the conventional trilateration algorithm will be recalculated for the weighted value and multiplied by each reference node, producing a lower estimation error. The simulation result shows that using an enhanced trilateration algorithm can improve the accuracy level of estimated position up to 90.55% with mean square error (MSE) of 2.03 meters stacked up with only using conventional trilateration is attained high estimated error up to 4.31 meters. Keywords – Conventional trilateration, enhanced trilateration, indoor positioning system, MSE, RSS