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Ultra Wideband Based Indoor Localization Using Sensor Fusion And Support Vector Machine
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Book Synopsis Ultra-wideband Based Indoor Localization Using Sensor Fusion and Support Vector Machine by : Zhuoqi Zeng
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.
Book Synopsis Distributed Optimisation for Multi-Robot Cooperative Manipulation Control in Dynamic Environments by : Yanhao He
Download or read book Distributed Optimisation for Multi-Robot Cooperative Manipulation Control in Dynamic Environments written by Yanhao He and published by Logos Verlag Berlin GmbH. This book was released on 2022-12-15 with total page 188 pages. Available in PDF, EPUB and Kindle. Book excerpt: Since the manipulation tasks for robotic systems become more and more complicated, multi-robot cooperation has been attracting much attention recently. Furthermore, under the trend of human-robot co-existence, collision-free motion control is now also desired on multi-robot groups. This dissertation aims to design a novel distributed optimal control framework to deal with multi-robot cooperative manipulation of rigid objects in dynamic environments. Besides object transportation, the control scheme also tackles obstacle avoidance, joint-space performance optimisation and internal force suppression. The proposed control framework has a two-layer structure, with a distributed optimisation algorithm in the kinematic layer for generating proper joint configuration references, followed by a robot motion controller in the dynamic control layer to fulfil the reference. An indirect and a direct distributed optimisation method are developed for the kinematic layer, both of which are computationally and communicationally efficient. In the dynamic control layer, impedance control is employed for safe physical interaction. As another highlight, abundant experiments carried out on a multi-arm test bench have demonstrated the effectiveness of the presented control schemes under various environmental and task settings. The recorded computation time shows the applicability of the control framework in practice.
Book Synopsis Modelling and Control of an Autonomous Two-Wheeled Vehicle by : Alen Turnwald
Download or read book Modelling and Control of an Autonomous Two-Wheeled Vehicle written by Alen Turnwald and published by Logos Verlag Berlin GmbH. This book was released on 2020-11-13 with total page 175 pages. Available in PDF, EPUB and Kindle. Book excerpt: With respect to the future urban mobility, modern electrical bicycles, advanced motorcycles and innovative two-wheeled vehicles are arresting enormous amount of attention. Especially, model-based control and optimal trajectory planning for such vehicles are important to the research and development of the future. Therefore, a reliable and yet usable vehicle model as well as a systematic approach to motion control for two-wheeled vehicles are essential, to which this work makes a contribution. Currently available two-wheeled vehicle models are mostly either too complex to be used for a systematic control synthesis, or too simple such that the physical behaviour of the vehicle is no more represented. In this thesis, a unifying approach to modelling and control for autonomous two-wheeled vehicles is presented. The resulting model is generally valid and physically detailed enough to represent the characteristic dynamical behaviour such as the self-stability. At the same time, it is suited to a systematic control synthesis. Furthermore, the systematic extenddability, for instance by a rider, is demonstrated. The model is validated by simulations and by comparison to well-known models from the literature. The proposed vehicle model is derived in the Lagrangian and Hamiltonian framework and used for model-based optimal trajectory planning. Furthermore, a passivity-based trajectory tracking controller is designed based on the resulting port-Hamiltonian system using the so-called generalised canonical transformations. Such a controller is physically interpretable and robust against parameter uncertainties. To this end, existing approaches of passivity-based controller design are extended and adjusted for two-wheeled vehicles. Finally, a prototype two-wheeled vehicle is introduced which is used for experimental validation of the model and to demonstrate motion control algorithms for autonomous two-wheeled vehicles.
Book Synopsis Recent Advances in Indoor Localization Systems and Technologies by : Gyula Simon
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.
Book Synopsis Accurate Range-based Indoor Localization Using PSO-Kalman Filter Fusion by : Paul Bupe
Download or read book Accurate Range-based Indoor Localization Using PSO-Kalman Filter Fusion written by Paul Bupe and published by . This book was released on 2020 with total page 69 pages. Available in PDF, EPUB and Kindle. Book excerpt: Author's abstract: Accurate indoor localization often depends on infrastructure support for distance estimation in range-based techniques. One can also trade off accuracy to reduce infrastructure investment by using relative positions of other nodes, as in range-free localization. Even for range-based methods where accurate Ultra-WideBand (UWB) signals are used, non line-of-sight (NLOS) conditions pose significant difficulty in accurate indoor localization. Existing solutions rely on additional measurements from sensors and typically correct the noise using a Kalman filter (KF). Solutions can also be customized to specific environments through extensive profiling. In this work, a range-based indoor localization algorithm called PSO - Kalman Filter Fusion (PKFF) is proposed that minimizes the effects of NLOS on localization error without using additional sensors or profiling. Location estimates from a windowed Particle Swarm Optimization (PSO) and a dynamically adjusted KF are fused based on a weighted variance factor. PKFF achieved a 40% lower 90-percentile root-mean-square localization error (RMSE) over the standard least squares trilateration algorithm at 61 cm compared to 102 cm.
Book Synopsis Visible Light Communication Based Indoor Localization by : Mohsen Kavehrad
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.
Book Synopsis Indoor Localization Based on RSS Fingerprinting Using Wi-Fi by : Ziad El Samad
Download or read book Indoor Localization Based on RSS Fingerprinting Using Wi-Fi written by Ziad El Samad and published by . This book was released on 2015 with total page 65 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Indoor Positioning and Navigation by : Simon Tomazič
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.
Book Synopsis An Experimental Three-dimensional Indoor Localization System Using Ultra Wideband and Inertial Sensors by : Jens Schroeder
Download or read book An Experimental Three-dimensional Indoor Localization System Using Ultra Wideband and Inertial Sensors written by Jens Schroeder and published by . This book was released on 2007 with total page 101 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Ultra-wideband Indoor Localization Systems by : Ruiqing Ye
Download or read book Ultra-wideband Indoor Localization Systems written by Ruiqing Ye and published by . This book was released on 2012 with total page 122 pages. Available in PDF, EPUB and Kindle. Book excerpt: Indoor localization systems have a variety of applications such as tracking of assets, indoor robot navigation, and monitoring of people (e.g. patients) in hospitals or at home. Global positioning system (GPS) offers location accuracy of several meters and is mainly used for outdoor location-based applications as its accuracy degrades significantly in indoor scenarios. Wireless local area networks (WLAN) have also been used for indoor localization, but the accuracy is too low and power consumption of WLAN terminals is too high for most applications. Ultra-wideband (UWB) localization is superior in terms of accuracy and power consumption compared with GPS and WLAN localization, and is thus more suitable for most indoor location-based applications [1-4]. The accuracy and precision requirements of localization systems depend on the specific characteristics of the applications. For example, centimeter or even millimeter localization accuracy is required for dynamic part tracking, while decimeter accuracy might be sufficient for tracking patients in hospitals or at home. Note that accuracy is not the only aspect of the overall performance of the system. Factors such as cost, range, and complexity should also be considered in system design. In the first part of this dissertation, a centimeter-accurate UWB localization system is developed. The technical challenges to achieve centimeter localization accuracy are investigated. Since all the receivers are synchronized through wire connection in this system, a wireless localization system with centimeter accuracy is introduced in order to make the system easier for deployment. A two-step synchronization algorithm with picosecond accuracy is presented, and the system is tested in a laboratory environment. The second part of this dissertation focuses on reducing the complexity of UWB localization systems when the localization accuracy requirement is relaxed. An UWB three-dimensional localization scheme with a single cluster of receivers is proposed. This scheme employs the time-of-arrival (TOA) technique and requires no wireless synchronization among the receivers. A hardware and software prototype that works in the 3.1-5.1 GHz range is constructed and tested in a laboratory environment. An average position estimation error of less than 3 decimeter is achieved by the experimental system. This TOA scheme with receivers in a single unit requires synchronization between the transmitter and the receiver unit. In order to further reduce system complexity, a new time-difference-of-arrival localization scheme is proposed. This scheme requires multiple units, each operating on its own clock. It avoids synchronization between the transmitter and receivers, and thus makes the development of the transmitter extremely simple. The performance of this system is simulated and analyzed analytically, and turns out to be satisfactory for most indoor localization applications.
Book Synopsis A Probabilistic Framework for Multi-sensor Fusion Based Indoor Localization on Mobile Platform by :
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.
Book Synopsis Ultra-wideband Based Indoor Localization of Mobile Nodes in ToA and TDoA Configurations by : Reza Zandian
Download or read book Ultra-wideband Based Indoor Localization of Mobile Nodes in ToA and TDoA Configurations written by Reza Zandian and published by . This book was released on 2019 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Collaborative Indoor Localization Based on Sensor Fusion with Particle Filter by :
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:
Book Synopsis Anchor Self-calibrating Schemes for UWB Based Indoor Localization by : Jonathan Pereira
Download or read book Anchor Self-calibrating Schemes for UWB Based Indoor Localization written by Jonathan Pereira and published by . This book was released on 2021 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Traditional indoor localization techniques that use Received Signal Strength or Inertial Measurement Units for dead-reckoning suffer from signal attenuation and sensor drift, resulting in inaccurate position estimates. Newly available Ultra-Wideband radio modules can measure distances at a centimeter-level accuracy while mitigating the effects of multipath propagation due to their very fine time resolution. Known locations of fixed anchor nodes are required to determine the position of tag nodes within an indoor environment. For a large system consisting of several anchor nodes spanning a wide area, physically mapping out the locations of each anchor node is a tedious task and thus makes the scalability of such systems difficult. Hence it is important to develop indoor localization systems wherein the anchors can self-calibrate by determining their relative positions in Euclidean 3D space with respect to each other. In this thesis, we propose two novel anchor self-calibrating algorithms - Triangle Reconstruction Algorithm (TRA) and Channel Impulse Response Positioning (CIRPos) that improve upon existing range-based implementations and solve existing problems such as flip ambiguity and node localization success rate. The localization accuracy and scalability of the self-calibrating anchor schemes are tested in a simulated environment based on the ranging accuracy of the Ultra-Wideband modules."--Abstract.
Book Synopsis Geolocation Techniques by : Camillo Gentile
Download or read book Geolocation Techniques written by Camillo Gentile and published by Springer Science & Business Media. This book was released on 2012-11-11 with total page 292 pages. Available in PDF, EPUB and Kindle. Book excerpt: Basics of Distributed and Cooperative Radio and Non-Radio Based Geolocation provides a detailed overview of geolocation technologies. The book covers the basic principles of geolocation, including ranging techniques to localization technologies, fingerprinting and localization in wireless sensor networks. This book also examines the latest algorithms and techniques such as Kalman Filtering, Gauss-Newton Filtering and Particle Filtering.
Book Synopsis Indoor Real-time Positioning Using Ultra-wideband Technology by : Mohammadreza Yavari
Download or read book Indoor Real-time Positioning Using Ultra-wideband Technology written by Mohammadreza Yavari and published by . This book was released on 2015 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis investigates the capability of Ultra-Wide Band (UWB) communication technology to be used for indoor real-time positioning. The integration of an inertial measurement unit (IMU) to increase positioning accuracy was also evaluated. We designed and implemented a novel evaluation method for positioning systems that compares each of the position estimates with the ground truth position at the same moment. We experimentally verified the accuracy of an UWB positioning system in line-of-sight (LOS) conditions to be, on average, 10.97 cm for a robot moving at around 0.16 m/s on a track of length 6.7 m. In the case of non-line-of-sight (NLOS) conditions, accuracy on a track of length 9.7 m for the same moving robot was, on average, 58.47 cm. Data fusion of IMU and UWB measurements using an extended Kalman filter increased average positioning accuracy to 51.96 cm, an 18.8% increase over UWB measurements alone, in NLOS conditions. In LOS conditions, we observed that data fusion of IMU and UWB measurements decreases the average positioning accuracy (from 10.97 cm to 14.17 cm) compared to use of UWB only position estimation.
Book Synopsis Localization Algorithms and Strategies for Wireless Sensor Networks: Monitoring and Surveillance Techniques for Target Tracking by : Mao, Guoqiang
Download or read book Localization Algorithms and Strategies for Wireless Sensor Networks: Monitoring and Surveillance Techniques for Target Tracking written by Mao, Guoqiang and published by IGI Global. This book was released on 2009-05-31 with total page 526 pages. Available in PDF, EPUB and Kindle. Book excerpt: Wireless localization techniques are an area that has attracted interest from both industry and academia, with self-localization capability providing a highly desirable characteristic of wireless sensor networks. Localization Algorithms and Strategies for Wireless Sensor Networks encompasses the significant and fast growing area of wireless localization techniques. This book provides comprehensive and up-to-date coverage of topics and fundamental theories underpinning measurement techniques and localization algorithms. A useful compilation for academicians, researchers, and practitioners, this Premier Reference Source contains relevant references and the latest studies emerging out of the wireless sensor network field.
