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2007 4th Workshop on Positioning, Navigation and Communication最新文献

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A Particle Filtering Algorithm for Audiovisual Speaker Localisation 一种用于视听说话人定位的粒子滤波算法
2007 4th Workshop on Positioning, Navigation and Communication Pub Date : 2007-03-22 DOI: 10.1109/WPNC.2007.353619
C. Voges, P. Bauer, T. Fingscheidt
{"title":"A Particle Filtering Algorithm for Audiovisual Speaker Localisation","authors":"C. Voges, P. Bauer, T. Fingscheidt","doi":"10.1109/WPNC.2007.353619","DOIUrl":"https://doi.org/10.1109/WPNC.2007.353619","url":null,"abstract":"In modern and innovative videoconference systems and human machine interfaces, localisation techniques play an important role for automatic camera and beamformer steering. Conventional acoustical and visual localisation techniques can be combined to form an audiovisual joint location estimate providing a more robust localisation of the active person. Tracking algorithms such as the well-known Kalman or extended Kalman filter and also particle filters can serve to further improve the location estimates. This paper is about a problem-specific SIR particle filtering algorithm applied to an existing audiovisual speaker localisation. The performance of the suggested algorithm will be evaluated using real audiovisual data based on experiments. It turns out that the proposed algorithm is able to improve the audiovisual location estimates.","PeriodicalId":382984,"journal":{"name":"2007 4th Workshop on Positioning, Navigation and Communication","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130012052","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}
引用次数: 4
Time of Arrival Prediction for WLAN Systems Using Prony Algorithm 基于proony算法的无线局域网到达时间预测
2007 4th Workshop on Positioning, Navigation and Communication Pub Date : 2007-03-22 DOI: 10.1109/WPNC.2007.353608
I. A. Ibraheem, J. Schoebel
{"title":"Time of Arrival Prediction for WLAN Systems Using Prony Algorithm","authors":"I. A. Ibraheem, J. Schoebel","doi":"10.1109/WPNC.2007.353608","DOIUrl":"https://doi.org/10.1109/WPNC.2007.353608","url":null,"abstract":"One of the important parameters for indoor localization systems based on wireless local area networks (WLANs) is estimation of time of arrival (TOA). This paper presents a technique that utilizes the channel transfer function to estimate TOA. The technique is based on the Prony algorithm, which has been used for the prediction of multipath parameters. Computer simulations for noisy and noiseless data have been performed to validate the technique. Moreover, measurements at WLAN frequencies are performed for further confirmation of the suggested technique.","PeriodicalId":382984,"journal":{"name":"2007 4th Workshop on Positioning, Navigation and Communication","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116009837","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}
引用次数: 19
Comparison of Hough Transform and Particle Filter Methods of Emitter Geolocation using Fusion of TDOA Data 基于TDOA数据融合的发射极定位Hough变换与粒子滤波方法比较
2007 4th Workshop on Positioning, Navigation and Communication Pub Date : 2007-03-22 DOI: 10.1109/WPNC.2007.353622
A. Mikhalev, R. Ormondroyd
{"title":"Comparison of Hough Transform and Particle Filter Methods of Emitter Geolocation using Fusion of TDOA Data","authors":"A. Mikhalev, R. Ormondroyd","doi":"10.1109/WPNC.2007.353622","DOIUrl":"https://doi.org/10.1109/WPNC.2007.353622","url":null,"abstract":"This paper compares the performance of RF emitter geolocation algorithms based on the Hough transform and the particle filter. Three Hough transform methods are considered: (a) the generalized Hough transform, (b) the randomized Hough transform and (c) the hybrid Hough transform. In each case, the emitter is assumed to provide a signal from which time difference of arrival measurements can be made by pairs of mobile receiving platforms, such as fixed-wing UAVs or fast jets as well as rotorcraft. Typical emitters include cellphones and other types of communication equipment. The paper shows that the Hough transform outperforms the particle filter both in terms of the RMS positional error and the computational processing requirements.","PeriodicalId":382984,"journal":{"name":"2007 4th Workshop on Positioning, Navigation and Communication","volume":"21 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134578864","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}
引用次数: 17
Unscented and Extended Kalman Estimators for non Linear Indoor Tracking Using Distance Measurements 基于距离测量的非线性室内跟踪的Unscented和扩展卡尔曼估计
2007 4th Workshop on Positioning, Navigation and Communication Pub Date : 2007-03-22 DOI: 10.1109/WPNC.2007.353631
H. Qasem, L. Reindl
{"title":"Unscented and Extended Kalman Estimators for non Linear Indoor Tracking Using Distance Measurements","authors":"H. Qasem, L. Reindl","doi":"10.1109/WPNC.2007.353631","DOIUrl":"https://doi.org/10.1109/WPNC.2007.353631","url":null,"abstract":"Industrial and logistic indoor tracking with accuracy in centimetre range is still a challenging issue. Many applications in mining, logistic, and navigation depend mainly on a precise determination of a mobile terminal. This work presents an indoor positioning approach using two recursive tracking algorithms for precisely localizing a mobile vehicle in a noisy environment. An extended Kalman filter (EKF) and unscented Kalman filter (UKF), the corresponding algorithms and mathematical models are presented and analysed. Experimental range measurements obtained from local positioning radar system are used to feed the filters. True and estimated trajectories of the mobile vehicle with associated means and error covariances are presented in more details. Results obtained shows that UKF is slightly more accurate and reliable. Whereas, EKF is easier to implement, converges faster when fed with a good initial estimate and more optimized for semi-linear tracking models.","PeriodicalId":382984,"journal":{"name":"2007 4th Workshop on Positioning, Navigation and Communication","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121767837","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}
引用次数: 22
Influence of Predicted and Measured Fingerprint on the Accuracy of RSSI-based Indoor Location Systems 预测和测量指纹对基于rssi的室内定位系统精度的影响
2007 4th Workshop on Positioning, Navigation and Communication Pub Date : 2007-03-22 DOI: 10.1109/WPNC.2007.353626
Widyawan, M. Klepal, D. Pesch
{"title":"Influence of Predicted and Measured Fingerprint on the Accuracy of RSSI-based Indoor Location Systems","authors":"Widyawan, M. Klepal, D. Pesch","doi":"10.1109/WPNC.2007.353626","DOIUrl":"https://doi.org/10.1109/WPNC.2007.353626","url":null,"abstract":"WLAN indoor location that is based on received signal strength indication (RSSI) technique needs extensive calibration to build a signal fingerprint. Re-calibration is also needed if there is a major change in the propagation environment. The use of propagation models to predict signal fingerprint becomes an interesting preposition. This paper will investigate the influence of predicted fingerprint on the accuracy of indoor location. They include empirical propagation models (i.e. one-slope model and multi-wall model) and a semi-deterministic model. A framework for indoor location with the nearest-neighbour and particle filter are developed to evaluate predicted and measured fingerprints. In order to take advantage of environment description, a map-filtering technique is also elaborated.","PeriodicalId":382984,"journal":{"name":"2007 4th Workshop on Positioning, Navigation and Communication","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128866290","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}
引用次数: 98
UWB Positioning Experiment in a typical Snowy Environment 典型雪地环境下超宽带定位实验
2007 4th Workshop on Positioning, Navigation and Communication Pub Date : 2007-03-22 DOI: 10.1109/WPNC.2007.353614
F. Tchoffo-Talom, B. Denis, J. Keignart, N. Daniele, D. Bouix
{"title":"UWB Positioning Experiment in a typical Snowy Environment","authors":"F. Tchoffo-Talom, B. Denis, J. Keignart, N. Daniele, D. Bouix","doi":"10.1109/WPNC.2007.353614","DOIUrl":"https://doi.org/10.1109/WPNC.2007.353614","url":null,"abstract":"In this paper, we present an UWB positioning experiment performed in a typical snowy environment with a portable ultra wideband (UWB) system. The study shows the possibility of using UWB technology in a context of real-time positioning of avalanche victims. At first, the performed experiment is described. Then, the positioning algorithm based on least-squares (LS) -Taylor series expansion (TSE) is detailed. This algorithm benefits from a prior knowledge of time difference of arrival (TDOA) error biases. Finally, experimental results obtained from measurements are discussed. The obtained results show that the proposed algorithm seems to be accurate and compatible for emergency requirements (e.g. less than lm 2D-RMSE at ranges up to 30m).","PeriodicalId":382984,"journal":{"name":"2007 4th Workshop on Positioning, Navigation and Communication","volume":"91 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132478450","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}
引用次数: 7
Location Tracking of Mobile Stations in TD-SCDMA System TD-SCDMA系统中移动站的位置跟踪
2007 4th Workshop on Positioning, Navigation and Communication Pub Date : 2007-03-22 DOI: 10.1109/WPNC.2007.353627
Hong Tang, Yongwan Park, Gyuyoung Han, Ho-Youl Jung
{"title":"Location Tracking of Mobile Stations in TD-SCDMA System","authors":"Hong Tang, Yongwan Park, Gyuyoung Han, Ho-Youl Jung","doi":"10.1109/WPNC.2007.353627","DOIUrl":"https://doi.org/10.1109/WPNC.2007.353627","url":null,"abstract":"A network-based scheme for location tracking of mobile stations (MSs) in TD-SCDMA system is proposed. Uplink Angle of arrival (AOA) of each MS is estimated by subspace tracking technique. And time of arrival (TOA) in fractional chip resolution is estimated from channel impulse response. From the two arguments, AOA and TOA, the position of a MS can be determined in a polar coordinate system in the coverage of the serving base station. A Kalman filter is used to smooth the position data set and track velocity. Computer simulations show that this location scheme has good performance, especially in rural and suburban area.","PeriodicalId":382984,"journal":{"name":"2007 4th Workshop on Positioning, Navigation and Communication","volume":"101 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123541073","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}
引用次数: 3
A Flexible Distributed Maximum Log-Likelihood Scheme for UWB Indoor Positioning 一种用于超宽带室内定位的柔性分布式最大对数似然方案
2007 4th Workshop on Positioning, Navigation and Communication Pub Date : 2007-03-22 DOI: 10.1109/WPNC.2007.353616
B. Denis, Liyun He, L. Ouvry
{"title":"A Flexible Distributed Maximum Log-Likelihood Scheme for UWB Indoor Positioning","authors":"B. Denis, Liyun He, L. Ouvry","doi":"10.1109/WPNC.2007.353616","DOIUrl":"https://doi.org/10.1109/WPNC.2007.353616","url":null,"abstract":"In this paper, we show that the distributed maximum log-likelihood (DMLL) algorithm, which was originally proposed in (Denis, 2005) as a positioning solution for ultra wideband (UWB) indoor ad hoc networks, exhibits fine flexibility. Indeed, distinct implementation options are offered regarding the integration of range measurements or the distribution of required calculi. One important point is the use of synergetic cooperative protocol transactions that can handle simultaneously ranging, local contributions to the iterative optimization of a global objective, as well as the exchange of positional information. In addition, depending on the retained underlying models and the amount of prior statistical information, either a \"blind\" approach or more advanced options (e.g. aided by a preliminary channel identification step) could be adopted within a unique generic framework. This algorithm also proves to mitigate the harmful effects of non line of sight (NLOS) ranging biases by incorporating refined time of arrival (TOA) models. Finally, it claims to benefit from redundancy and spatial diversity as network completeness increases. At first, we make a short description of possible algorithmic embodiments. Then, we provide new simulation results obtained under realistic indoor scenarios with various ranging models. Subsequently, we discuss the impact of a few critical parameters on positioning precision and/or reliability.","PeriodicalId":382984,"journal":{"name":"2007 4th Workshop on Positioning, Navigation and Communication","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116251029","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}
引用次数: 17
A Framework for Visual Position Estimation for Motor Vehicles 一种机动车辆视觉位置估计框架
2007 4th Workshop on Positioning, Navigation and Communication Pub Date : 2007-03-22 DOI: 10.1109/WPNC.2007.353638
A. Rae, O. Basir
{"title":"A Framework for Visual Position Estimation for Motor Vehicles","authors":"A. Rae, O. Basir","doi":"10.1109/WPNC.2007.353638","DOIUrl":"https://doi.org/10.1109/WPNC.2007.353638","url":null,"abstract":"This paper describes a general formulation for vehicle position estimation within a road network using visual features from a camera system and a priori knowledge in the form of Geographic Information System (GIS) data. The proposed approach consists of two parts. First, features of the environment are detected by the vision system while corresponding features are extracted from the GIS, which can be considered a system's internal model of the environment. Second, vehicle position is tracked over time using an extended Kalman filtering (EKF) scheme in which visual feature estimates are compared to features extracted from the GIS world model. Simulation results provide a visual illustration of the theoretical finding that uncertainty in vehicle position is reduced by the observation of features changing continuously with vehicle position. This work is applicable for autonomous navigation systems (which must observe the vehicle environment) and as a complement to satellite positioning methods.","PeriodicalId":382984,"journal":{"name":"2007 4th Workshop on Positioning, Navigation and Communication","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122008402","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}
引用次数: 9
Robust Extended Kalman Filtering in Hybrid Positioning Applications 鲁棒扩展卡尔曼滤波在混合定位中的应用
2007 4th Workshop on Positioning, Navigation and Communication Pub Date : 2007-03-22 DOI: 10.1109/WPNC.2007.353613
T. Perälä, R. Piché
{"title":"Robust Extended Kalman Filtering in Hybrid Positioning Applications","authors":"T. Perälä, R. Piché","doi":"10.1109/WPNC.2007.353613","DOIUrl":"https://doi.org/10.1109/WPNC.2007.353613","url":null,"abstract":"The Kalman filter and its extensions has been widely studied and applied in positioning, in part because its low computational complexity is well suited to small mobile devices. While these filters are accurate for problems with small nonlinearities and nearly Gaussian noise statistics, they can perform very badly when these conditions do not prevail. In hybrid positioning, large nonlinearities can be caused by the geometry and large outliers (blunder measurements) can arise due to multipath and non line-of-sight signals. It is therefore of interest to find ways to make positioning algorithms based on Kalman-type filters more robust. In this paper two methods to robustify the Kalman filter are presented. In the first method the variances of the measurements are scaled according to weights that are calculated for each innovation, thus giving less influence to measurements that are regarded as blunder. The second method is a Bayesian filter that approximates the density of the innovation with a non-Gaussian density. Weighting functions and innovation densities are chosen using Hubers min-max approach for the epsilon contaminated normal neighborhood, the p-point family, and a heuristic approach. Six robust extended Kalman filters together with the classical extended Kalman filter (EKF) and the second order extended Kalman filter (EKF2) are tested in numerical simulations. The results show that the proposed methods outperform EKF and EKF2 in cases where there is blunder measurement or considerable linearization errors present.","PeriodicalId":382984,"journal":{"name":"2007 4th Workshop on Positioning, Navigation and Communication","volume":"11 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114113796","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}
引用次数: 69
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