2014 Ubiquitous Positioning Indoor Navigation and Location Based Service (UPINLBS)最新文献

{"title":"Use of diversity techniques for weak GNSS signal tracking in fading environments","authors":"R. Siddakatte, A. Broumandan, G. Lachapelle","doi":"10.1109/UPINLBS.2014.7033704","DOIUrl":"https://doi.org/10.1109/UPINLBS.2014.7033704","url":null,"abstract":"This research focuses on improving the GNSS signal measurement performance in harsh multipath environments. The nature of GNSS signal propagation in typical signal impeding wireless channels such as indoors and urban environments is studied. The signal power distribution, delay spread, and Doppler spread characteristics of real GNSS signals in such environments are investigated. Based on the observations obtained from this characterization, a closed-loop tracking architecture based on spatial diversity reception is proposed. The proposed algorithm is tested on real data collected using two antennas in indoor static and urban kinematic scenarios. The carrier loop tracking, code loop tracking, and pseudorange errors are compared between single antenna reception and dual antenna spatial diversity reception for different scenarios. Results show that the proposed tracking method improves the Doppler measurement by more than 50% and pseudorange measurements by 2-5 m compared to a single antenna receiver.","PeriodicalId":133607,"journal":{"name":"2014 Ubiquitous Positioning Indoor Navigation and Location Based Service (UPINLBS)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133925396","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Indoor localisation for wheeled platforms based on IMU and artificially generated magnetic field","authors":"Hendrik Hellmers, A. Eichhorn, Abdelmoumen Norrdine, J. Blankenbach","doi":"10.1109/UPINLBS.2014.7033735","DOIUrl":"https://doi.org/10.1109/UPINLBS.2014.7033735","url":null,"abstract":"In recent years the research on positioning and navigation systems for indoor environments has progressed rapidly. For this purpose many technologies based on e.g. UWB, WLAN, ultrasonic or infrared were utilized. However, these systems are restricted on line-of-sight (LOS) conditions due to disturbances, fading and multipath inside of buildings. Because magnetic fields are able to penetrate walls, building materials or other objects, a DC Magnetic signal based Indoor Local Positioning System (MILPS) was developed, which provides localisation in harsh indoor environments. Multiple electrical coils - representing reference stations - and tri-axial magnetometers as mobile stations are utilized. Capturing the magnetic field intensities of at least three different coils leads to the specific slope distances and finally to the observer's position. Because the current positioning algorithm is designed for stop-and-go applications originally, this contribution focuses on the sensor fusion of MILPS and an Inertial Measurement Unit (IMU) to face kinematic applications for wheeled platforms. The short time stable IMU-integrated data, which is influenced by sensor drifts and integration errors, is then supported by MILPS, which delivers positions in a low frequent update interval. To estimate a position in two dimensional environments - in the first step - an Iterative Kaiman Filter (IKF) is applied to eliminate linearization errors caused by inaccurate predictions. Therefore the dead reckoning trajectory is updated by using MILPS' distance observations. In this context first promising experiments with combinations of IMU and MILPS have been performed proving the capability of sensor integration. While acceleration and angular rate measurements lead to a state prediction (consisting of current position and velocity) external MILPS-observations are used for IMU-data support. The IKF estimates a current state in respect to both measurement systems' statistical information.","PeriodicalId":133607,"journal":{"name":"2014 Ubiquitous Positioning Indoor Navigation and Location Based Service (UPINLBS)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134014247","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Infrared local positioning system using phase differences","authors":"E. M. Gorostiza, F. J. Meca, J. Lázaro, David Salido, E. Martos-Naya, A. Wieser","doi":"10.1109/UPINLBS.2014.7033733","DOIUrl":"https://doi.org/10.1109/UPINLBS.2014.7033733","url":null,"abstract":"In this paper an infrared (IR) indoor local positioning system (LPS) is presented. The most relevant low level design aspects are addressed. Using sinusoidal amplitude-modulation (AM) of an infrared carrier, differential distances between a mobile emitter, the position of which is to be obtained, and fixed receivers are measured. The system may yield accuracies at the level of a few cm and addresses applications for which the increasingly available wireless technologies and smart phone sensors are not sufficient. Such applications comprise e.g., positioning mobile-robots in a manufacturing plant or positioning tools on a construction site. The proposed system works with an IR LED emitter, with a wide emitting angle, resulting in a less complex system than a laser-based one, but requiring an elaborate sensor design in order to have a sufficiently high signal-to-noise ratio (SNR) for successful demodulation. A detailed description of the basic locating cells (BLC), composed of five receivers is given as well as a study including all the blocks that comprise the system: emitter and detector devices, sensor electronics, phase measuring electronic system and hyperbolic trilateration module. All these blocks are modelled numerically and their relevant parameters are discussed with respect to their effect on the position error. The numerical analysis provides a method to evaluate the system as a whole. The choice of parameter values is a trade-off between accuracy, coverage and admissible dynamics of the mobile robot, or - equivalently - between SNR, field of view and real time response. Multipath is one of the biggest challenges for current indoor positioning systems requiring line-of-sight observations. The proposed system achieves multipath mitigation through an additional spread spectrum modulation of the sinusoidal AM signal, in analogy to the modulation of the microwave carrier with GNSS. Finally, a numerical analysis and an experiment using a prototypical BLC are summarized. They indicate that the system achieves a precision of 5 cm (2σ) for the coordinates in a fixed local coordinate frame.","PeriodicalId":133607,"journal":{"name":"2014 Ubiquitous Positioning Indoor Navigation and Location Based Service (UPINLBS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130491612","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A context detection approach using GPS module and emerging sensors in smartphone platform","authors":"Wenchao Xu, Ruizhi Chen, Tianxing Chu, L. Kuang, Yanqin Yang, Xiao Li, Jingbin Liu, Yuwei Chen","doi":"10.1109/UPINLBS.2014.7033723","DOIUrl":"https://doi.org/10.1109/UPINLBS.2014.7033723","url":null,"abstract":"Nowadays smartphones are equipped with various sensors and powerful processing modules, and are accessible to flexible communication networks, thus enabling complex applications such as context awareness, activity recognition, health care monitoring and so forth. These applications typically require contextual information to optimize the effectiveness, e.g. indoor/outdoor identification. This paper develops an indoor/outdoor detection method based on a generic smartphone platform, utilizing the information extracted from the internal clock, GPS module and light intensity sensor. The vote principle is used in the detection. The approach has been tested in multiple locations in order to evaluate performance. This includes residences, office space, roads, restaurants, markets and so forth. Two kinds of detection results consisting of static and walking scenarios are shown in the paper. This method can output detection results with good accuracy in both day and night and all weather conditions. The approach can operate on different smartphone profiles from low-end to high-end. An optimized method also presents for some advanced smartphones with GPS satellite signal noise ratio output, which has been shown more effective in real-time response and detection accuracy.","PeriodicalId":133607,"journal":{"name":"2014 Ubiquitous Positioning Indoor Navigation and Location Based Service (UPINLBS)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114157793","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"WiFi-based indoor localization and tracking of a moving device","authors":"N. Hernández, M. Ocaña, J. M. Alonso, Euntai Kim","doi":"10.1109/UPINLBS.2014.7033738","DOIUrl":"https://doi.org/10.1109/UPINLBS.2014.7033738","url":null,"abstract":"While some indoor Location Based Services (LBSs), such as medical equipment location in hospitals or people location in museums, do not need to estimate the trajectory of devices at short time intervals, some others, such as people guidance, require a frequent estimation of the device position. When providing an LBS for the latter, motion models and the information provided from motion sensors are commonly used to reduce the error in the localization, but this information is not always available. In this paper, we propose an approach to estimate the position of a moving device using a topological radio-map designed for static WiFi localization in a previous work. This approach uses a Bayes filter that continuously estimates the most likely position of the device. This filter will have to deal with the low working frequency of the device and the uncertainty of the observation to provide an accurate and fast estimation. Experiments performed in a real multi-floor environment show that the system is able to correctly track the device position, reducing the mean localization error.","PeriodicalId":133607,"journal":{"name":"2014 Ubiquitous Positioning Indoor Navigation and Location Based Service (UPINLBS)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126640676","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Integrating monocular vision and laser point for indoor UAV SLAM","authors":"Qing-hua Zeng, Yushu Wang, Jianye Liu, Ruizhi Chen, Xiaoyi Deng","doi":"10.1109/UPINLBS.2014.7033725","DOIUrl":"https://doi.org/10.1109/UPINLBS.2014.7033725","url":null,"abstract":"In order to realize the autonomous navigation of an unmanned aerial vehicle while exploring unknown indoor environments and meet the requirements of the indoor UAV positioning and indoor environmental reconstruction, a new strategy is presented based on monocular vision and a laser source. Combining laser-assisted odometry and a scan correlation algorithm with inertial information through an Extended Kaiman Filter (EKF) to realize the purpose localization and mapping. The laser-assisted distance measurement is presented in our paper depends on visual and geometric principle, which has the same effect of laser range finder after error corrections. The pose estimates can be obtained by laser scan matching which is used Sum of Gaussian (SoG) as the essential elements of mapping and localization. At last, in order to improve the autonomy of navigation, EKF is used to fuse inertial information. Experiments in an indoor environment validate the significant engineering reference value of the proposed algorithm.","PeriodicalId":133607,"journal":{"name":"2014 Ubiquitous Positioning Indoor Navigation and Location Based Service (UPINLBS)","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122971470","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Modeling acoustic localization accuracy for scalable energy consumption in wireless sensor swarms","authors":"Joyraj Chakraborty, Geoffrey Ottoy, Jean-Pierre Goemaere, L. D. Strycker","doi":"10.1109/UPINLBS.2014.7033724","DOIUrl":"https://doi.org/10.1109/UPINLBS.2014.7033724","url":null,"abstract":"Sensor swarms can be a cost-effectieve and more privacy-friendly alternative for location based service systems in building automation and health-care. To increase the battery lifetime of such swarm networks, the energy consumption should be scaled to the required localization accuracy. In this paper we described the first steps in developing an energy model that couples localization accuracy to energy-related sensor parameters such as sample frequency and ADC resolution. The goal is to use the model for the localization of undetermined environmental sounds, by means of wireless acoustic sensors. We show that for TDOA-based localization, the signal sample rate can be under the Nyquist frequency, provided that enough frequency components remain present in the undersampled signal. The resulting localization error is comparable with that of similar localization systems.","PeriodicalId":133607,"journal":{"name":"2014 Ubiquitous Positioning Indoor Navigation and Location Based Service (UPINLBS)","volume":"91 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134346702","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Performance of a MEMS IMU deeply coupled with a GNSS receiver under jamming","authors":"M. Kirkko-Jaakkola, L. Ruotsalainen, M. Z. H. Bhuiyan, Stefan Söderholm, S. Thombre, H. Kuusniemi","doi":"10.1109/UPINLBS.2014.7033711","DOIUrl":"https://doi.org/10.1109/UPINLBS.2014.7033711","url":null,"abstract":"Satellite navigation signals are very weak in power and, therefore, rather easy to jam for various purposes in both military operations and civilian life. This paper studies the jamming mitigation performance of deep GNSS-INS coupling when a low-cost MEMS inertial measurement unit (IMU) is being used. Deep coupling refers to the integration architecture which implements inertial-aided vector GNSS tracking instead of independent (scalar) tracking loops. In this paper the most important equations involved in noncoherent deep coupling are presented and the tracking performance using the MEMS IMU is compared to the performance obtained using the true antenna position instead of inertial navigation computations. Moreover, the convergence of the integration filter is investigated in the case where only four satellites are available. The results show that the MEMS IMU cannot quite bridge a jamming period of 35 seconds but still outperforms standard unassisted scalar tracking. Moreover, it is observed that an adverse satellite geometry significantly slows down the convergence of the accelerometer bias states of the integration filter while some other states reach a steady state normally.","PeriodicalId":133607,"journal":{"name":"2014 Ubiquitous Positioning Indoor Navigation and Location Based Service (UPINLBS)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117260191","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Infrastructure for benchmarking RF-based indoor localization under controlled interference","authors":"Filip Lemic, Jasper Busch, Mikolaj Chwalisz, V. Handziski, A. Wolisz","doi":"10.1109/UPINLBS.2014.7033707","DOIUrl":"https://doi.org/10.1109/UPINLBS.2014.7033707","url":null,"abstract":"The proliferation of RF-based indoor localization solutions raises the need for testing systems that enable objective evaluation of their functional and non functional properties. We introduce a testbed and cloud infrastructure for supporting automatized benchmarking of RF-based indoor localization solutions under controlled interference. For evaluating the impact of RF interference on the performance of benchmarked solution, the infrastructure leverages various interference generation and monitoring devices. The infrastructure obtains location estimates from the System Under Test (SUT) using a well defined interface, and the estimates are subsequently processed in a dedicated metrics computation engine and stored in the dedicated engine for storing the results of benchmarking experiments. The infrastructure further includes a robotic mobility platform which serves as a reference localization system and can transport the localized device of the evaluated indoor localization solution in an autonomous and repeatable manner. We present the accuracy of our autonomous mobility platform in two different setups, showing that, due to the high accuracy, the location estimation provided by the platform can be considered as the reference localization system for benchmarking of RF-based indoor localization solutions. The results, as well as the raw data from the benchmarking experiments, can be stored into the dedicated publicly available services which gives the opportunity of reusing the same data for benchmarking different solutions. Finally, we present the capabilities of the testbed and cloud infrastructure on the use-case of benchmarking of an example WiFi fingerprinting-based indoor localization solution in four different interference scenarios.","PeriodicalId":133607,"journal":{"name":"2014 Ubiquitous Positioning Indoor Navigation and Location Based Service (UPINLBS)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124418837","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Evaluation of angle of arrival estimation for localization in multiple indoor environments","authors":"S. Wielandt, A. V. Nieuwenhuyse, Jean-Pierre Goemaere, B. Nauwelaers, L. D. Strycker","doi":"10.1109/UPINLBS.2014.7033708","DOIUrl":"https://doi.org/10.1109/UPINLBS.2014.7033708","url":null,"abstract":"The performance of indoor localization systems based on angle of arrival strongly depends on the environment. Consequently, a characterization of localization errors in different environments is necessary to correctly assess the accuracy of these systems. This paper focuses on the localization errors in multiple environments using basic 2.4 GHz linear antenna arrays. First, a theoretical algorithm is elaborated to predict the expected localization error in various environments. Subsequently, this algorithm is tested in practical tests performed in an anechoic room, an empty room and a room with obstacles. In these tests, various techniques for error minimization are evaluated, as well as the Beamscan, ESPRIT and MUSIC angle of arrival algorithms. It is shown that the accuracy in an anechoic room can also be obtained in an empty room for certain configurations. This is not the case for a room with obstacles preventing line-of-sight connections. For this case, a new type of localization system is proposed.","PeriodicalId":133607,"journal":{"name":"2014 Ubiquitous Positioning Indoor Navigation and Location Based Service (UPINLBS)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130067023","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}