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Download or read book Collaborative Indoor Localization Based on Sensor Fusion with Particle Filter written by and published by . This book was released on 2017 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Zhuoqi Zeng
Publisher : Logos Verlag Berlin GmbH
ISBN 13 : 3832552294
Total Pages : 152 pages
Book Rating : 4.8/5 (325 download)
Download or read book Ultra-wideband Based Indoor Localization Using Sensor Fusion and Support Vector Machine written by Zhuoqi Zeng and published by Logos Verlag Berlin GmbH. This book was released on 2020-12-21 with total page 152 pages. Available in PDF, EPUB and Kindle. Book excerpt: To further improve the NLOS detection and mitigation performance for Ultra-wideband (UWB) system, this thesis systematically investigates the UWB LOS/NLOS errors. The LOS errors are evaluated in different environments and with different distances. Different blockage materials and blockage conditions are considered for NLOS errors. The UWB signal propagation is also investigated. Furthermore, the relationships between the CIRs and the accurate/inaccurate range measurements are theoretically discussed in three different situations: ideal LOS path, small-scale fading: multipath and NLOS path. These theoretical relationships are validated with real measured CIRs in the Bosch Shanghai office environment. Based on the error and signal propagation investigation results, four different algorithms are proposed for four different scenarios to improve the NLOS identification accuracy. After the comparison of the localization performance for TOA/TDOA, it is found that on normal office floor, TOA works better than TDOA. In harsh industrial environments, where NLOS frequently occurs, TDOA is more suitable than TOA. Thus, in the first scenario, the position estimation is realized with TOA on the office floor, while in the second scenario, a novel approach to combined TOA and TDOA with accurate range and range difference selection is proposed in the harsh industrial environment. The optimization of the feature combination and parameters in machine learning algorithms for accurate measurement detection is discussed for both scenarios. For the third and fourth scenarios, the UWB/IMU fusion system stays in focus. Instead of detecting the NLOS outliers by assuming that the error distributions are Gaussian, the accurate measurement detection is realized based on the triangle inequality theorem. All the proposed approaches are tested with the collected measurements from the developed UWB system. The position estimation of these approaches has better accuracy than that of the traditional methods.
Author :
Publisher :
ISBN 13 :
Total Pages : 214 pages
Book Rating : 4.:/5 (14 download)
Download or read book A Probabilistic Framework for Multi-sensor Fusion Based Indoor Localization on Mobile Platform written by and published by . This book was released on 2017 with total page 214 pages. Available in PDF, EPUB and Kindle. Book excerpt: Nowadays, smart mobile devices integrate more and more sensors on board, such as motion sensors (accelerometer, gyroscope), wireless signal strength indicators (WiFi, Bluetooth), and visual sensors (LiDAR, camera). People have developed various indoor localization techniques based on these sensors. In this dissertation, a probabilistic framework for multi-sensor fusion based indoor localization system is developed and partially implemented on a mobile platform. The probabilistic fusion of multiple sensors is investigated in a hidden Markov model (HMM) framework for mobile device user localization. We propose a graph structure to store the model constructed by multiple sensors during offline training phase, and multimodal particle filter to seamlessly fuse the information during online tracking phase. The multi-sensor information for our data fusion and analysis includes WiFi received signal strength (RSS) collected from mobile device's received signal strength indicator (RSSI), motion signals gathered by built in motion sensors including accelerometer and gyroscope, and images captured by camera. Based on our algorithms, we performed simulations in MATLAB and analyzed the results. We further implemented the indoor localization system on the iOS platform. The experiments carried out in typical indoor environment have shown promising results of the proposed algorithm and system design.
Author : Paul Daniel Martin
Publisher :
ISBN 13 :
Total Pages : 148 pages
Book Rating : 4.:/5 (17 download)
Download or read book Collaborative and Efficient Indoor Localization for Mobile Systems written by Paul Daniel Martin and published by . This book was released on 2016 with total page 148 pages. Available in PDF, EPUB and Kindle. Book excerpt: The introduction of GPS-enabled mobile devices created in its wake a torrent of location-based applications and services. These devices are increasingly equipped with rich sensors for position and orientation, hearing, and vision, and by using their radios they can sense proximity to nearby people and devices. Considerable research over the past decades has demonstrated that these rich sensing platforms can also be used to provide reasonable location estimates in both indoor and outdoor environments. Research into the growing field of mobile (and indoor) localization has traditionally been concerned with providing scalable, cost-effective solutions for improving position estimation accuracy. Towards this end, researchers have explored RF-based ranging techniques, sensor fingerprinting methods, vision- and optics-based approaches, and inertial dead reckoning as potential mobile positioning technologies. Each of these methods presents a unique set of challenges---e.g., nonlinear and multipath RF propagation, training and infrastructure deployments, and sensor drift. Accompanying each of these challenges are overheads in the form of energy expenditure, increased computation, or increased wireless channel congestion. Reducing these overheads is a necessary step towards enabling indoor localization techniques to permeate the mobile market. This work focuses on methods for reducing the various overheads associated with localization by fusing position estimates with various low power sensing modalities, such as pressure, odometry, and even time. To do so, we distill localization routines into a spatial and temporal sequence of estimates and corresponding uncertainties. These estimates may be absolute, as is the case with GPS or fixed anchor nodes, or relative as with odometry and range. Each measurement is then treated as an edge in a graph whose nodes represent position estimates across time, allowing for joint optimization of multiple device locations across multiple sensor measurements and providing a method for easily integrating additional constraints into pre-existing positioning techniques. We divide this work into three thrusts as follows: (i) We present an architecture and formalization of collaborative indoor localization techniques as a single cohesive estimation routine. We leverage graph realization techniques as well as sensor fusion results from the sensor network literature to jointly optimize otherwise disjoint measurements, fusing absolute and relative measurements in a single optimizing routine; (ii) We explore wideband RF time-of-flight measurements as a method of providing accurate non-line-of-sight distance measurements and channel estimations between smartphones and other mobile devices, integrating these measurements to provide accurate, real-time error corrections for mobile positioning; and (iii) We construct a generic, open-source testbed upon which to analyze the algorithms and measurements employed, facilitating easier comparison and development of state-of-the-art positioning techniques and reducing the cost of obtaining measurements with corresponding ground truth observations.
Author : Mohsen Kavehrad
Publisher : CRC Press
ISBN 13 : 1000712478
Total Pages : 136 pages
Book Rating : 4.0/5 (7 download)
Download or read book Visible Light Communication Based Indoor Localization written by Mohsen Kavehrad and published by CRC Press. This book was released on 2019-11-18 with total page 136 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book demonstrates the research on VLC based indoor localization in four aspects: first, it constructs the concept and model of the system; second, positioning algorithms, as the main issue in indoor localization, are detailed; third, many approaches are proposed to further improve the positioning performance; fourth, challenges will be detailed. Impulse response with multipath reflections are analyzed. Orthogonal frequency division multiplexing (OFDM) is proposed, and positioning performance is largely improved compared to On-off-keying (OOK) modulation. The readers will get a broad view of VLC based indoor localization from the background to the future challenges.
Author : Gyula Simon
Publisher : MDPI
ISBN 13 : 303651483X
Total Pages : 502 pages
Book Rating : 4.0/5 (365 download)
Download or read book Recent Advances in Indoor Localization Systems and Technologies written by Gyula Simon and published by MDPI. This book was released on 2021-08-30 with total page 502 pages. Available in PDF, EPUB and Kindle. Book excerpt: Despite the enormous technical progress seen in the past few years, the maturity of indoor localization technologies has not yet reached the level of GNSS solutions. The 23 selected papers in this book present the recent advances and new developments in indoor localization systems and technologies, propose novel or improved methods with increased performance, provide insight into various aspects of quality control, and also introduce some unorthodox positioning methods.
Author : Ehad Akeila
Publisher :
ISBN 13 :
Total Pages : 189 pages
Book Rating : 4.:/5 (747 download)
Download or read book Positioning in Indoor Environments Based on INS and RF Sensor Fusion written by Ehad Akeila and published by . This book was released on 2011 with total page 189 pages. Available in PDF, EPUB and Kindle. Book excerpt: The past few years have witnessed an increasing demand for positioning applications in indoor environments. Several technologies have been employed to develop systems which can efficiently perform the positioning task in such environments. However, most of the available systems are either large and expensive or insufficiently accurate to be reliable for some of the critical applications. This thesis describes the development of an indoor positioning system which can provide portability, minimum cost and sufficient accuracy. Two of low cost sensor technologies have been utilised in this research; Inertial Navigation Systems (INS) and a positioning system based on the Bluetooth technology. The development of final system has been targeted by first optimizing the performance of each individual system using a series of proposed methods. Fusion of the measurements from the optimised systems in then performed using suitable fusion filters, such as Kalman and particle filter. Considering the INS based applications, a gravity compensation method is used for filtering the gravitational changes which corrupt the outputs of the accelerometers. A different method is then applied to automatically reset the INS errors found when obtaining the distance travelled by moving objects based on the measured accelerations. In enhancing the performance of the Bluetooth positioning system, a method has been developed to dynamically calibrate the radio frequency (RF) signal parameters to adapt for the environmental changes. In each of the developed methods, necessary verifications and testing have been done through simulations as well as using experimental setup designed for each of the sensor technologies. Final results show that the INS errors have been significantly reduced using the proposed resetting method which also extended the operational time from few seconds to several minutes. The performance of the Bluetooth based system has achieved positioning error of less than 1.5 metres using the proposed dynamic calibration method. Testing results of the fusion of the two optimised systems showed that the positioning error of the final system can be reduced to less than 1 metre when using either of the fusion filters. Furthermore, the fusion of the INS have demonstrated a positive impact in lowering the number of the Bluetooth reference nodes needed for achieving an adequate indoor positioning accuracy, hence cutting the overall cost when deploying the final system in real indoor applications.
Author : Martin Werner
Publisher : Springer
ISBN 13 : 3319106996
Total Pages : 240 pages
Book Rating : 4.3/5 (191 download)
Download or read book Indoor Location-Based Services written by Martin Werner and published by Springer. This book was released on 2014-11-29 with total page 240 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book delivers concise coverage of classical methods and new developments related to indoor location-based services. It collects results from isolated domains including geometry, artificial intelligence, statistics, cooperative algorithms, and distributed systems and thus provides an accessible overview of fundamental methods and technologies. This makes it an ideal starting point for researchers, students, and professionals in pervasive computing. Location-based services are services using the location of a mobile computing device as their primary input. While such services are fairly easy to implement outside buildings thanks to accessible global positioning systems and high-quality environmental information, the situation inside buildings is fundamentally different. In general, there is no simple way of determining the position of a moving target inside a building without an additional dedicated infrastructure. The book’s structure is learning oriented, starting with a short introduction to wireless communication systems and basic positioning techniques and ending with advanced features like event detection, simultaneous localization and mapping, and privacy aspects. Readers who are not familiar with the individual topics will be able to work through the book from start to finish. At the same time all chapters are self-contained to support readers who are already familiar with some of the content and only want to pick selected topics that are of particular interest.
Author : José Ramiro Martínez-de Dios
Publisher : Springer
ISBN 13 : 3662547619
Total Pages : 94 pages
Book Rating : 4.6/5 (625 download)
Download or read book Cluster-based Localization and Tracking in Ubiquitous Computing Systems written by José Ramiro Martínez-de Dios and published by Springer. This book was released on 2017-05-17 with total page 94 pages. Available in PDF, EPUB and Kindle. Book excerpt: Localization and tracking are key functionalities in ubiquitous computing systems and techniques. In recent years a very high variety of approaches, sensors and techniques for indoor and GPS-denied environments have been developed. This book briefly summarizes the current state of the art in localization and tracking in ubiquitous computing systems focusing on cluster-based schemes. Additionally, existing techniques for measurement integration, node inclusion/exclusion and cluster head selection are also described in this book.
Author : Chao Gao
Publisher : CRC Press
ISBN 13 : 0429016670
Total Pages : 731 pages
Book Rating : 4.4/5 (29 download)
Download or read book Cooperative Localization and Navigation written by Chao Gao and published by CRC Press. This book was released on 2019-08-21 with total page 731 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book captures the latest results and techniques for cooperative localization and navigation drawn from a broad array of disciplines. It provides the reader with a generic and comprehensive view of modeling, strategies, and state estimation methodologies in that fields. It discusses the most recent research and novel advances in that direction, exploring the design of algorithms and architectures, benefits, and challenging aspects, as well as a potential broad array of disciplines, including wireless communication, indoor localization, robotics, emergency rescue, motion analysis, etc.
Author : Wenzhong Shi
Publisher : Springer Nature
ISBN 13 : 9811589836
Total Pages : 941 pages
Book Rating : 4.8/5 (115 download)
Download or read book Urban Informatics written by Wenzhong Shi and published by Springer Nature. This book was released on 2021-04-06 with total page 941 pages. Available in PDF, EPUB and Kindle. Book excerpt: This open access book is the first to systematically introduce the principles of urban informatics and its application to every aspect of the city that involves its functioning, control, management, and future planning. It introduces new models and tools being developed to understand and implement these technologies that enable cities to function more efficiently – to become ‘smart’ and ‘sustainable’. The smart city has quickly emerged as computers have become ever smaller to the point where they can be embedded into the very fabric of the city, as well as being central to new ways in which the population can communicate and act. When cities are wired in this way, they have the potential to become sentient and responsive, generating massive streams of ‘big’ data in real time as well as providing immense opportunities for extracting new forms of urban data through crowdsourcing. This book offers a comprehensive review of the methods that form the core of urban informatics from various kinds of urban remote sensing to new approaches to machine learning and statistical modelling. It provides a detailed technical introduction to the wide array of tools information scientists need to develop the key urban analytics that are fundamental to learning about the smart city, and it outlines ways in which these tools can be used to inform design and policy so that cities can become more efficient with a greater concern for environment and equity.
Author : Chenshu Wu
Publisher : Springer
ISBN 13 : 9811303568
Total Pages : 225 pages
Book Rating : 4.8/5 (113 download)
Download or read book Wireless Indoor Localization written by Chenshu Wu and published by Springer. This book was released on 2018-08-22 with total page 225 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides a comprehensive and in-depth understanding of wireless indoor localization for ubiquitous applications. The past decade has witnessed a flourishing of WiFi-based indoor localization, which has become one of the most popular localization solutions and has attracted considerable attention from both the academic and industrial communities. Specifically focusing on WiFi fingerprint based localization via crowdsourcing, the book follows a top-down approach and explores the three most important aspects of wireless indoor localization: deployment, maintenance, and service accuracy. After extensively reviewing the state-of-the-art literature, it highlights the latest advances in crowdsourcing-enabled WiFi localization. It elaborated the ideas, methods and systems for implementing the crowdsourcing approach for fingerprint-based localization. By tackling the problems such as: deployment costs of fingerprint database construction, maintenance overhead of fingerprint database updating, floor plan generation, and location errors, the book offers a valuable reference guide for technicians and practitioners in the field of location-based services. As the first of its kind, introducing readers to WiFi-based localization from a crowdsourcing perspective, it will greatly benefit and appeal to scientists and researchers in mobile and ubiquitous computing and related areas.
Author : Simon Tomazič
Publisher : Mdpi AG
ISBN 13 : 9783036519135
Total Pages : 396 pages
Book Rating : 4.5/5 (191 download)
Download or read book Indoor Positioning and Navigation written by Simon Tomazič and published by Mdpi AG. This book was released on 2021-11-12 with total page 396 pages. Available in PDF, EPUB and Kindle. Book excerpt: In recent years, rapid development in robotics, mobile, and communication technologies has encouraged many studies in the field of localization and navigation in indoor environments. An accurate localization system that can operate in an indoor environment has considerable practical value, because it can be built into autonomous mobile systems or a personal navigation system on a smartphone for guiding people through airports, shopping malls, museums and other public institutions, etc. Such a system would be particularly useful for blind people. Modern smartphones are equipped with numerous sensors (such as inertial sensors, cameras, and barometers) and communication modules (such as WiFi, Bluetooth, NFC, LTE/5G, and UWB capabilities), which enable the implementation of various localization algorithms, namely, visual localization, inertial navigation system, and radio localization. For the mapping of indoor environments and localization of autonomous mobile sysems, LIDAR sensors are also frequently used in addition to smartphone sensors. Visual localization and inertial navigation systems are sensitive to external disturbances; therefore, sensor fusion approaches can be used for the implementation of robust localization algorithms. These have to be optimized in order to be computationally efficient, which is essential for realtime processing and low energy consumption on a smartphone or robot.
Author : Yuan Yang (Ph. D. in civil engineering)
Publisher :
ISBN 13 :
Total Pages : 130 pages
Book Rating : 4.:/5 (131 download)
Download or read book Indoor Positioning System for Smart Devices written by Yuan Yang (Ph. D. in civil engineering) and published by . This book was released on 2021 with total page 130 pages. Available in PDF, EPUB and Kindle. Book excerpt: With the proliferation of personal smart devices in the last decade, mobile applications of indoor location-based services (ILBS) have been widely used in public buildings, such as hospitals, malls, school campuses and museums for patient monitoring, security management, asset tracking and indoor navigation, etc. As the core component of ILBS, indoor positioning systems (IPS) have gained increased attention. Since global navigation satellite systems (GNSS) are generally denied in indoor environments, as an alternative solution, many Radio Frequency (RF) based approaches of IPS have been proposed. However, these solutions either need to work in a controlled environment with customized RF infrastructure or could only offer low accuracy localization at the meter level. This work focuses on developing an innovative framework of IPS which is able to perform in any indoor environment without extra infrastructure and offers a robust and accurate localization estimation for smart device users. To achieve this goal, this work initially introduces a mean peak method that is subsequently combined with classification-based Wi-Fi fingerprint positioning (WF) techniques to deal with the challenges of positioning in a weak RSS environment. As the next step, the database updating problem for WF, including an innovative Bayes-inference-based sensor fusion framework which integrates WF and visual fingerprint positioning (VF) is addressed. The method provides both a location estimation and a heading direction estimation. In order to further improve the accuracy of the localization, a state-of-the-art visual localization algorithm, InLoc, is introduced in combination with WF for constructing a new IPS. Additionally, with the help of WF, the computational cost of InLoc is reduced compared to the original one. Moreover, to improve the robustness of the system, a particle filter and map updating function are introduced to optimize localization results and address the RSS variance problem. In summary, the proposed methodologies of this work define a framework for constructing an innovative IPS, a new path to build indoor positioning systems which are robust, easy to use and easy to deploy.
Author : Chao Gao
Publisher : CRC Press
ISBN 13 : 0429016689
Total Pages : 636 pages
Book Rating : 4.4/5 (29 download)
Download or read book Cooperative Localization and Navigation written by Chao Gao and published by CRC Press. This book was released on 2019-08-21 with total page 636 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book captures the latest results and techniques for cooperative localization and navigation drawn from a broad array of disciplines. It provides the reader with a generic and comprehensive view of modeling, strategies, and state estimation methodologies in that fields. It discusses the most recent research and novel advances in that direction, exploring the design of algorithms and architectures, benefits, and challenging aspects, as well as a potential broad array of disciplines, including wireless communication, indoor localization, robotics, emergency rescue, motion analysis, etc.
Author : Xue-Bo Jin
Publisher : MDPI
ISBN 13 : 3038429333
Total Pages : 569 pages
Book Rating : 4.0/5 (384 download)
Download or read book Advances in Multi-Sensor Information Fusion: Theory and Applications 2017 written by Xue-Bo Jin and published by MDPI. This book was released on 2018-06-26 with total page 569 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is a printed edition of the Special Issue "Advances in Multi-Sensor Information Fusion: Theory and Applications 2017" that was published in Sensors
Author : Yaqian Xu
Publisher : kassel university press GmbH
ISBN 13 : 3737600708
Total Pages : 198 pages
Book Rating : 4.7/5 (376 download)
Download or read book Autonomous Indoor Localization Using Unsupervised Wi-Fi Fingerprinting written by Yaqian Xu and published by kassel university press GmbH. This book was released on 2016-01-01 with total page 198 pages. Available in PDF, EPUB and Kindle. Book excerpt: Indoor localization is a research domain that aims to locate mobile devices or users in the indoor environments. More and more research has investigated to acquire the location information based upon existing Wi-Fi infrastructure. A technique of using current Wi-Fi data and a fingerprint database containing Wi-Fi fingerprints of desired locations for localization is known as Wi-Fi fingerprinting. Most current approaches for Wi-Fi fingerprinting depend on labor-intensive and time-consuming site surveys by professional staff or users to generate a fingerprint database of desired locations. Moreover, these approaches are not satisfactory for long-term localization of mobile devices in practice due to the costly and continuous update of the fingerprint database. In this thesis, we propose an approach to the indoor localization problem, in which we combine the Wi-Fi fingerprinting technique and the place learning technique to learn and update the Wi-Fi fingerprints of significant locations in an unsupervised manner. Significant locations are locations a user spent at least for a while (e.g., 10 minutes) and are most important and highly frequented in people’s daily lives. The conventional approaches use labeled Wi-Fi data intentionally collected by professional staff or users and learn Wi-Fi fingerprints of desired locations. Instead, the proposed approach uses unlabeled Wi-Fi data collected in a user’s daily life and learns Wi-Fi fingerprints of significant locations related to user’s daily trajectory and activities. We implement an autonomous indoor localization system WHERE based on the proposed approach. The system can automatically learn and update Wi-Fi fingerprints of significant locations, and determine the location of the mobile device when it returns to the learned locations. Moreover, we evaluate various measures of performance, in term of the location accuracy, the computational time, the power consumption, the size of a fingerprint database, and the system reliability in a practical use. Performance evaluation shows that the proposed autonomous indoor localization system WHERE is a reliable system for efficient use – being very low-cost to set up and maintain, and showing satisfactory localization performance.
