IEEE Journal of Indoor and Seamless Positioning and Navigation最新文献

{"title":"Self-Localization Method Using a Single Acoustic Ranging Sensor Based on Impulse Response and Doppler Effect","authors":"Atsushi Tsuchiya;Naoto Wakatsuki;Tadashi Ebihara;Keiichi Zempo;Koichi Mizutani","doi":"10.1109/JISPIN.2024.3403519","DOIUrl":"https://doi.org/10.1109/JISPIN.2024.3403519","url":null,"abstract":"This study aims to realize self-position estimation for indoor robots using only a single acoustic channel. When a single omnidirectional transmitter/receiver is used as an object detection sensor, detected objects are identified on concentric circles with the transmitter/receiver as the center point. Self-position estimation method using this sensor cannot use the directional information of the detected object. This fact makes it impossible to specify the robot's turning angle using environmental information. In this article, we propose a self-position estimation method using a single omnidirectional transmitter/receiver that can consider the direction of the reflected object by estimating the direction of the reflected wave from the Doppler effect generated during the robot's movement. The self-position estimation was implemented by using echo images of the direction of arrival of sound waves estimated from the Doppler effect and the distance of arrival of sound waves estimated from the impulse response and matching them with a previously generated map image. The accuracy of the proposed method was evaluated by simulation and experiment. In the simulation, an average position estimation error of 0.042 m was achieved; in the experiment, it was 0.051 m. Furthermore, experimental and simulation results show that using the Doppler effect contributes to self-position estimation accuracy.","PeriodicalId":100621,"journal":{"name":"IEEE Journal of Indoor and Seamless Positioning and Navigation","volume":"2 ","pages":"193-204"},"PeriodicalIF":0.0,"publicationDate":"2024-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10535727","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141474966","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Integrating Indoor Localization Systems Through a Handoff Protocol","authors":"Francesco Furfari;Michele Girolami;Paolo Barsocchi","doi":"10.1109/JISPIN.2024.3377146","DOIUrl":"https://doi.org/10.1109/JISPIN.2024.3377146","url":null,"abstract":"The increasing adoption of location-based services drives the pervasive adoption of localization systems available anywhere. Environments equipped with multiple indoor localization systems (ILSs) require managing the transition from one ILS to another in order to continue localizing the user's device even when moving indoor or outdoor. In this article, we focus on the handoff procedure, whose goal is to enable a device to trigger the transition between ILSs when specific conditions are verified. We distinguish between the triggering and managing operations, each requiring specific actions. We describe the activation of the handoff procedure by considering three types of ILSs design, each with increasing complexity. Moreover, we define five handoff algorithms-based RSSI signal analysis and we test them in a realistic environment with two nearby ILSs. We establish a set of evaluation metrics to measure the performance of the handoff procedure.","PeriodicalId":100621,"journal":{"name":"IEEE Journal of Indoor and Seamless Positioning and Navigation","volume":"2 ","pages":"130-142"},"PeriodicalIF":0.0,"publicationDate":"2024-03-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10471883","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140537357","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Uncertainty-Based Fingerprinting Model Monitoring for Radio Localization","authors":"Maximilian Stahlke;Tobias Feigl;Sebastian Kram;Bjoern M. Eskofier;Christopher Mutschler","doi":"10.1109/JISPIN.2024.3398568","DOIUrl":"https://doi.org/10.1109/JISPIN.2024.3398568","url":null,"abstract":"Indoor radio environments often consist of areas with mixed propagation conditions. In line-of-sight (LoS)-dominated areas, classic time-of-flight (ToF) methods reliably return accurate positions, while in nonline-of-sight (NLoS) dominated areas (AI-based) fingerprinting methods are required. However, fingerprinting methods are only cost-efficient if they are used exclusively in NLoS-dominated areas due to their expensive life cycle management. Systems that are both accurate and cost-efficient in LoS- and NLoS-dominated areas require identification of those areas to select the optimal localization method. To enable a reliable and robust life cycle management of fingerprinting, we must identify altered fingerprints to trigger update processes. In this article, we propose methods for uncertainty estimation of AI-based fingerprinting to determine its spatial boundaries and validity. Our experiments show that we can successfully identify spatial boundaries of the fingerprinting models and detect corrupted areas. In contrast to the state-of-the-art, our approach employs an intrinsic identification through out-of-distribution (OOD) detection, rendering external detection approaches unnecessary.","PeriodicalId":100621,"journal":{"name":"IEEE Journal of Indoor and Seamless Positioning and Navigation","volume":"2 ","pages":"166-176"},"PeriodicalIF":0.0,"publicationDate":"2024-03-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10526425","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141078825","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Self-Contained Pedestrian Navigation Fusing ML-Selected GNSS Carrier Phase and Inertial Signals in Challenging Environments","authors":"Ziyou Li;Ni Zhu;Valérie Renaudin","doi":"10.1109/JISPIN.2024.3397229","DOIUrl":"https://doi.org/10.1109/JISPIN.2024.3397229","url":null,"abstract":"The performance of the global navigation satellite system (GNSS)-based navigation is usually degraded in challenging environments, such as deep urban and light indoors. In such environments, the satellite visibility is reduced, and the complex propagation conditions perturb the GNSS signals with attenuation, refraction, and frequent reflection. This article presents a novel artificial intelligence (AI)-based approach, to tackle the complex GNSS positioning problems in deep urban, even light indoors. The new approach, called LIGHT, i.e., Light Indoor GNSS macHine-learning-based Time difference carrier phase, can select healthy GNSS carrier phase data for positioning, thanks to machine learning (ML). The selected carrier phase data are fed into a time difference carrier phase (TDCP)-based extended Kalman filter to estimate the user's velocity. Four trajectories including shopping mall, railway station, shipyard, as well as urban canyon scenarios over a 3.2-km total walking distance with a handheld device are tested. It is shown that at least half of the epochs are selected as usable for light indoor GNSS TDCP standalone positioning, and the accuracy of the velocity estimates can improve up to 88% in terms of the 75\u0000<inline-formula><tex-math>${text{th}}$</tex-math></inline-formula>\u0000 percentile of the absolute horizontal velocity error compared with the state-of-the-art non-ML approach. Furthermore, a newly designed hybridization filter LIGHT-PDR that fuses the LIGHT algorithm and pedestrian dead reckoning solution is applied to perform seamless indoor/outdoor positioning in a more robust manner.","PeriodicalId":100621,"journal":{"name":"IEEE Journal of Indoor and Seamless Positioning and Navigation","volume":"2 ","pages":"177-192"},"PeriodicalIF":0.0,"publicationDate":"2024-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10520899","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141078826","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A Multichannel Approach and Testbed for Centimeter-Level WiFi Ranging","authors":"Jayson P. Van Marter;Matan Ben-Shachar;Yaron Alpert;Anand G. Dabak;Naofal Al-Dhahir;Murat Torlak","doi":"10.1109/JISPIN.2024.3366850","DOIUrl":"https://doi.org/10.1109/JISPIN.2024.3366850","url":null,"abstract":"Latest advancements in WiFi ranging enable the use of both timestamps and channel frequency response (CFR) measurements supporting the recently released IEEE 802.11az Next Generation Positioning standard. However, resolution limitations are imposed by the single-channel bandwidth of operation, and WiFi devices that can only operate using 20 MHz channels on a given time instance suffer from limited ranging capabilities. While devices can frequency hop to multiple channels to obtain CFR measurements across larger bandwidths, changes in local oscillator phase offsets and time offsets per channel prevent direct stitching of the CFR. To overcome these challenges and achieve phase-coherent multichannel (PCMC) CFR measurements, we propose a two-way CFR approach that embeds timestamp information in the phase. We develop a software-defined radio testbed to evaluate our proposed multichannel ranging technique and answer hardware implementation challenges. For range estimation, we employ multiple signal classification and a complexity reduction strategy to accommodate large bandwidths with many subcarriers. Utilizing our proposed PCMC technique with 16 channels, we demonstrate a median error of 2.7 cm and a 90th percentile error of 9.5 cm in indoor line-of-sight conditions.","PeriodicalId":100621,"journal":{"name":"IEEE Journal of Indoor and Seamless Positioning and Navigation","volume":"2 ","pages":"76-91"},"PeriodicalIF":0.0,"publicationDate":"2024-02-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10438856","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140052916","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Radar-Based Millimeter-Wave Sensing for Accurate 3-D Indoor Positioning: Potentials and Challenges","authors":"Andrey Sesyuk;Stelios Ioannou;Marios Raspopoulos","doi":"10.1109/JISPIN.2024.3359151","DOIUrl":"https://doi.org/10.1109/JISPIN.2024.3359151","url":null,"abstract":"The 3-D nature of modern smart applications has imposed significant 3-D positioning accuracy requirements, especially in indoor environments. However, a major limitation of most existing indoor localization systems is their focus on estimating positions mainly in the horizontal plane, overlooking the crucial vertical dimension. This neglect presents considerable challenges in accurately determining the 3-D position of devices, such as drones and individuals across multiple floors of a building let alone the cm-level accuracy that might be required in many of these applications. To tackle this issue, millimeter-wave (mmWave) positioning systems have emerged as a promising technology offering high accuracy and robustness even in complex indoor environments. This article aims to leverage the potential of mmWave radar technology to achieve precise ranging and angling measurements presenting a comprehensive methodology for evaluating the performance of mmWave sensors in terms of measurement precision while demonstrating the 3-D positioning accuracy that can be achieved. The main challenges and the respective solutions associated with the use of mmWave sensors for indoor positioning are highlighted, providing valuable insights into their potentials and suitability for practical applications.","PeriodicalId":100621,"journal":{"name":"IEEE Journal of Indoor and Seamless Positioning and Navigation","volume":"2 ","pages":"61-75"},"PeriodicalIF":0.0,"publicationDate":"2024-01-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10415170","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139987099","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Offsite Evaluation of Localization Systems: Criteria, Systems, and Results From IPIN 2021 and 2022 Competitions","authors":"Francesco Potortì;Antonino Crivello;Soyeon Lee;Blagovest Vladimirov;Sangjoon Park;Yushi Chen;Long Wang;Runze Chen;Fang Zhao;Yue Zhuge;Haiyong Luo;Antoni Perez-Navarro;Antonio R. Jiménez;Han Wang;Hengyi Liang;Cedric De Cock;David Plets;Yan Cui;Zhi Xiong;Xiaodong Li;Yiming Ding;Fernando Javier Álvarez Franco;Fernando Jesús Aranda Polo;Felipe Parralejo Rodríguez;Adriano Moreira;Cristiano Pendão;Ivo Silva;Miguel Ortiz;Ni Zhu;Ziyou Li;Valérie Renaudin;Dongyan Wei;Xinchun Ji;Wenchao Zhang;Yan Wang;Longyang Ding;Jian Kuang;Xiaobing Zhang;Zhi Dou;Chaoqun Yang;Sebastian Kram;Maximilian Stahlke;Christopher Mutschler;Sander Coene;Chenglong Li;Alexander Venus;Erik Leitinger;Stefan Tertinek;Klaus Witrisal;Yi Wang;Shaobo Wang;Beihong Jin;Fusang Zhang;Chang Su;Zhi Wang;Siheng Li;Xiaodong Li;Shitao Li;Mengguan Pan;Wang Zheng;Kai Luo;Ziyao Ma;Yanbiao Gao;Jiaxing Chang;Hailong Ren;Wenfang Guo;Joaquín Torres-Sospedra","doi":"10.1109/JISPIN.2024.3355840","DOIUrl":"https://doi.org/10.1109/JISPIN.2024.3355840","url":null,"abstract":"Indoor positioning is a thriving research area, which is slowly gaining market momentum. Its applications are mostly customized, ad hoc installations; ubiquitous applications analogous to Global Navigation Satellite System for outdoors are not available because of the lack of generic platforms, widely accepted standards and interoperability protocols. In this context, the indoor positioning and indoor navigation (IPIN) competition is the only long-term, technically sound initiative to monitor the state of the art of real systems by measuring their performance in a realistic environment. Most competing systems are pedestrian-oriented and based on the use of smartphones, but several competing tracks were set up, enabling comparison of an array of technologies. The two IPIN competitions described here include only off-site tracks. In contrast with on-site tracks where competitors bring their systems on-site—which were impossible to organize during 2021 and 2022—in off-site tracks competitors download prerecorded data from multiple sensors and process them using the EvaalAPI, a real-time, web-based emulation interface. As usual with IPIN competitions, tracks were compliant with the EvAAL framework, ensuring consistency of the measurement procedure and reliability of results. The main contribution of this work is to show a compilation of possible indoor positioning scenarios and different indoor positioning solutions to the same problem.","PeriodicalId":100621,"journal":{"name":"IEEE Journal of Indoor and Seamless Positioning and Navigation","volume":"2 ","pages":"92-129"},"PeriodicalIF":0.0,"publicationDate":"2024-01-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10404047","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140297043","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Indoor Group Identification and Localization Using Privacy-Preserving Edge Computing Distributed Camera Network","authors":"Chaitra Hegde;Yashar Kiarashi;Amy D. Rodriguez;Allan I. Levey;Matthew Doiron;Hyeokhyen Kwon;Gari D. Clifford","doi":"10.1109/JISPIN.2024.3354248","DOIUrl":"https://doi.org/10.1109/JISPIN.2024.3354248","url":null,"abstract":"Social interaction behaviors change as a result of both physical and psychiatric problems, and it is important to identify subtle changes in group activity engagements for monitoring the mental health of patients in clinics. This work proposes a system to identify when and where group formations occur in an approximately 1700 \u0000<inline-formula><tex-math>$ text{m}^{2}$</tex-math></inline-formula>\u0000 therapeutic built environment using a distributed edge-computing camera network. The proposed method can localize group formations when provided with noisy positions and orientations of individuals, estimated from sparsely distributed multiview cameras, which run a lightweight multiperson 2-D pose detection model. Our group identification method demonstrated an F1 score of up to 90% with a mean absolute error of 1.25 m for group localization on our benchmark dataset. The dataset consisted of seven subjects walking, sitting, and conversing for 35 min in groups of various sizes ranging from 2 to 7 subjects. The proposed system is low-cost and scalable to any ordinary building to transform the indoor space into a smart environment using edge computing systems. We expect the proposed system to enhance existing therapeutic units for passively monitoring the social behaviors of patients when implementing real-time interventions.","PeriodicalId":100621,"journal":{"name":"IEEE Journal of Indoor and Seamless Positioning and Navigation","volume":"2 ","pages":"51-60"},"PeriodicalIF":0.0,"publicationDate":"2024-01-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10400779","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139738932","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Editorial An Important Step for Indoor and Seamless Positioning and Navigation","authors":"Valérie Renaudin;Francesco Potorti","doi":"10.1109/JISPIN.2023.3344291","DOIUrl":"https://doi.org/10.1109/JISPIN.2023.3344291","url":null,"abstract":"It is with great pleasure that we introduce the first issue of the \u0000<sc>IEEE Journal on Indoor and Seamless Positioning and Navigation</small>\u0000 (J-ISPIN). J-ISPIN is a gold open-access publication of the IEEE Sensors Council, the IEEE Signal Processing Society, and the Instrumentation and Measurement Society. The multidisciplinary J-ISPIN provides a platform for Open Access publishing in response to the growing demand for Open Access. Thus, this first issue represents an important milestone for indoor and seamless positioning publishing.","PeriodicalId":100621,"journal":{"name":"IEEE Journal of Indoor and Seamless Positioning and Navigation","volume":"1 ","pages":"iii-iii"},"PeriodicalIF":0.0,"publicationDate":"2023-12-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10375307","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139050652","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"An Experimental Evaluation Based on Direction Finding Specification for Indoor Localization and Proximity Detection","authors":"Michele Girolami;Fabio Mavilia;Francesco Furfari;Paolo Barsocchi","doi":"10.1109/JISPIN.2023.3345268","DOIUrl":"https://doi.org/10.1109/JISPIN.2023.3345268","url":null,"abstract":"Radio-frequency technologies have been largely explored to deliver reliable indoor localization systems. However, at the current stage, none of the proposed technologies represent a de-facto standard. Although RSS-based (received signal strength) techniques have been extensively studied, they suffer of a number of side-effects mainly caused by the complexity of radio propagation in indoor environments. A possible solution is designing systems exploiting multiple techniques, so that to compensate weaknesses of a specific source of information. Under this respect, Bluetooth represents an interesting technology, combining multiple techniques for indoor localization. In particular, the BT5.1 direction finding specification includes the possibility of estimating the angle between an emitting device and an antenna array. The Angle of Arrival (AoA) provides interesting features for the localization purpose, as it allows estimating the direction from which a signal is propagated. In this work, we detail our experimental setting based on a BT5.1-compliant kit to quantitatively measure the performance in three scenarios: static positioning, mobility, and proximity detection. Scenarios provide a robust benchmark allowing us to identify and discuss features of AoA values also in comparison with respect to traditional RSS-based approaches.","PeriodicalId":100621,"journal":{"name":"IEEE Journal of Indoor and Seamless Positioning and Navigation","volume":"2 ","pages":"36-50"},"PeriodicalIF":0.0,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10366502","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139109574","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}