Pub Date : 2019-06-01DOI: 10.1109/ICL-GNSS.2019.8752698
Wenbo Wang, N. Okati, Islam M. Tanash, T. Riihonen, E. Lohan
This paper proposes a drone-based architecture with location-based beamforming (LBBF)and edge computing support for efficient crop harvesting and management in order to reduce the food waste in the food chain in farming applications. Monitoring the crop is a crucial part in the food chain. In this work, for monitoring purpose we consider synthetic aperture radar (SAR)mounted on the unmanned aerial vehicles (UAVs). In order to provide the edge computing information with good reliability, small latency and good throughput, we introduce a LBBF technique for the uplink connectivity. Firstly, the LBBF algorithm is proposed for the scenario where a single user is connected to the base station under analog beamforming scheme. Secondly, in the context of LBBF, we apply an optimization of the antenna size under the uniform rectangular array (URA)assumption. Thirdly, we implement a numerical analysis to compare LBBF with the traditional channel state information (CSI)-based beamforming. We show that the LBBF outperforms the CSI-based beamforming in the noisy environments according to the investigated performance metrics, namely the reliability of the connectivity and the capacity. In addition, the LBBF also has smaller latency than CSI-based beamforming.
{"title":"Location-Based Beamforming Architecture for Efficient Farming Applications with Drones","authors":"Wenbo Wang, N. Okati, Islam M. Tanash, T. Riihonen, E. Lohan","doi":"10.1109/ICL-GNSS.2019.8752698","DOIUrl":"https://doi.org/10.1109/ICL-GNSS.2019.8752698","url":null,"abstract":"This paper proposes a drone-based architecture with location-based beamforming (LBBF)and edge computing support for efficient crop harvesting and management in order to reduce the food waste in the food chain in farming applications. Monitoring the crop is a crucial part in the food chain. In this work, for monitoring purpose we consider synthetic aperture radar (SAR)mounted on the unmanned aerial vehicles (UAVs). In order to provide the edge computing information with good reliability, small latency and good throughput, we introduce a LBBF technique for the uplink connectivity. Firstly, the LBBF algorithm is proposed for the scenario where a single user is connected to the base station under analog beamforming scheme. Secondly, in the context of LBBF, we apply an optimization of the antenna size under the uniform rectangular array (URA)assumption. Thirdly, we implement a numerical analysis to compare LBBF with the traditional channel state information (CSI)-based beamforming. We show that the LBBF outperforms the CSI-based beamforming in the noisy environments according to the investigated performance metrics, namely the reliability of the connectivity and the capacity. In addition, the LBBF also has smaller latency than CSI-based beamforming.","PeriodicalId":119581,"journal":{"name":"2019 International Conference on Localization and GNSS (ICL-GNSS)","volume":"12 12 Pt A 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125267781","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}
Pub Date : 2019-06-01DOI: 10.1109/ICL-GNSS.2019.8752712
O. Arsene, C. Postelnicu, Wenbo Wang, E. Lohan, D. Năstac
An essential component in the intelligent wireless processing for the future industrial halls will be the data labelling with location information. The location information will facilitate not only the remote control and autonomy of the industrial robots and sensors, but it will also enable predictive control and maintenance, increased productivity, and increased workers' safety. The data labelling is typically a tedious and costly process when done manually or semi-automatically, and the fully automated data labelling has still to overcome several challenges that we describe in this paper. We propose a collaborative robotic architecture equipped with simultaneous localization and mapping as well as machine-learning-based algorithms. A scenario in an industrial setting is presented, in which data acquisition by robots, with various capabilities, can be used to enable location-based services for increased workers' safety and to offer timely tracking of mobile assets for an increased productivity. The robotic platform acquires data during the periods when the robots are not allocated to their main tasks. Besides, we demonstrate that the above mentioned robotic platform could benefit from machine learning, for example, the accurate estimation of positions and good adaption in different type of collected data sets.
{"title":"An Architecture for Indoor Location-Aided Services based on Collaborative Industrial Robotic Platforms","authors":"O. Arsene, C. Postelnicu, Wenbo Wang, E. Lohan, D. Năstac","doi":"10.1109/ICL-GNSS.2019.8752712","DOIUrl":"https://doi.org/10.1109/ICL-GNSS.2019.8752712","url":null,"abstract":"An essential component in the intelligent wireless processing for the future industrial halls will be the data labelling with location information. The location information will facilitate not only the remote control and autonomy of the industrial robots and sensors, but it will also enable predictive control and maintenance, increased productivity, and increased workers' safety. The data labelling is typically a tedious and costly process when done manually or semi-automatically, and the fully automated data labelling has still to overcome several challenges that we describe in this paper. We propose a collaborative robotic architecture equipped with simultaneous localization and mapping as well as machine-learning-based algorithms. A scenario in an industrial setting is presented, in which data acquisition by robots, with various capabilities, can be used to enable location-based services for increased workers' safety and to offer timely tracking of mobile assets for an increased productivity. The robotic platform acquires data during the periods when the robots are not allocated to their main tasks. Besides, we demonstrate that the above mentioned robotic platform could benefit from machine learning, for example, the accurate estimation of positions and good adaption in different type of collected data sets.","PeriodicalId":119581,"journal":{"name":"2019 International Conference on Localization and GNSS (ICL-GNSS)","volume":"79 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133907496","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}
Pub Date : 2019-06-01DOI: 10.1109/ICL-GNSS.2019.8752775
Silvio Semanjski, A. Muls, I. Šemanjski, W. D. Wilde
Spoofing of the GNSS signals presents continuous threat to the users of safety of life applications due to unaware use of false signals in generating position and timing solution. Among numerous anti-spoofing techniques applied at different stages of the signal processing, we present approach of monitoring the cross-correlation of multiple GNSS observables and measurements as an input for supervised machine learning based approach to detect potentially spoofed GNSS signals. Both synthetic, generated in laboratory, and real-world spoofing datasets were used for verification and validation of the supervised machine learning algorithms for detection of the GNSS spoofing.
{"title":"Use and Validation of Supervised Machine Learning Approach for Detection of GNSS Signal Spoofing","authors":"Silvio Semanjski, A. Muls, I. Šemanjski, W. D. Wilde","doi":"10.1109/ICL-GNSS.2019.8752775","DOIUrl":"https://doi.org/10.1109/ICL-GNSS.2019.8752775","url":null,"abstract":"Spoofing of the GNSS signals presents continuous threat to the users of safety of life applications due to unaware use of false signals in generating position and timing solution. Among numerous anti-spoofing techniques applied at different stages of the signal processing, we present approach of monitoring the cross-correlation of multiple GNSS observables and measurements as an input for supervised machine learning based approach to detect potentially spoofed GNSS signals. Both synthetic, generated in laboratory, and real-world spoofing datasets were used for verification and validation of the supervised machine learning algorithms for detection of the GNSS spoofing.","PeriodicalId":119581,"journal":{"name":"2019 International Conference on Localization and GNSS (ICL-GNSS)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122170585","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}
Pub Date : 2019-06-01DOI: 10.1109/ICL-GNSS.2019.8752742
Paul Schwarzbach, Paula Tauscher, Albrecht Michler, O. Michler
Future applications for connected and automated driving depend on high-precision, lane selective positioning especially in dense urban environments. Estimating a user's position is often based on Global Navigation Satellite Systems (GNSS), but stand-alone GNSS positioning methods do not meet the necessary performance requirements. To achieve higher accuracies, additional sensor information is usually incorporated. Recent trends to enhance GNSS based positioning have focused on Cooperative Positioning (CP)approaches which allow the elimination of correlated GNSS error terms. The work presented in this paper provides a Dedicated Short Range Communication (DSRC)enhanced CP scheme using IEEE 802.11p and low-cost, multi-constellation GNSS receivers. A proposal for integrating GNSS raw data exchange through DSRC is given. An Extended Kalman Filter (EKF)performing GNSS Double Differencing (DD)is used as positioning algorithm and is compared to a conventional Least Squares Estimator (LSE). The proposed method is described in detail and validated in an experimental, dynamic measurement scenario.
{"title":"V2X based Probabilistic Cooperative Position Estimation Applying GNSS Double Differences","authors":"Paul Schwarzbach, Paula Tauscher, Albrecht Michler, O. Michler","doi":"10.1109/ICL-GNSS.2019.8752742","DOIUrl":"https://doi.org/10.1109/ICL-GNSS.2019.8752742","url":null,"abstract":"Future applications for connected and automated driving depend on high-precision, lane selective positioning especially in dense urban environments. Estimating a user's position is often based on Global Navigation Satellite Systems (GNSS), but stand-alone GNSS positioning methods do not meet the necessary performance requirements. To achieve higher accuracies, additional sensor information is usually incorporated. Recent trends to enhance GNSS based positioning have focused on Cooperative Positioning (CP)approaches which allow the elimination of correlated GNSS error terms. The work presented in this paper provides a Dedicated Short Range Communication (DSRC)enhanced CP scheme using IEEE 802.11p and low-cost, multi-constellation GNSS receivers. A proposal for integrating GNSS raw data exchange through DSRC is given. An Extended Kalman Filter (EKF)performing GNSS Double Differencing (DD)is used as positioning algorithm and is compared to a conventional Least Squares Estimator (LSE). The proposed method is described in detail and validated in an experimental, dynamic measurement scenario.","PeriodicalId":119581,"journal":{"name":"2019 International Conference on Localization and GNSS (ICL-GNSS)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117150166","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}
Pub Date : 2019-06-01DOI: 10.1109/ICL-GNSS.2019.8752644
S. Schmidt, Marco Cimdins, H. Hellbrück
Recently, single anchor localization evolves as a new research topic that exploits multipath propagation for calculation of tag positions. With a combination of movement information and particle filters, they provide a precision that is similar to multi-anchor systems. However, a systematic approach to the design and implementation of such systems is not yet available. The combination of theory and mathematical modeling for channel impulse responses is still an open research question that we address in this paper. Therefore, we propose a new representation of a channel impulse response targeted for single anchor localization systems. Based on this representation, we model the relationship between tag positions and channel impulse responses and evaluate the statistic properties of channel impulse responses in this application. In this paper, we introduce a new metric for the assessment of anchor positions, the effective length of CIRs. By the shortest effective length of a set of CIRs, we identify the best anchor position, since it indicates the position where requirements for the measurement of the channel impulse response are lowest.
{"title":"On the Effective Length of Channel Impulse Responses in UWB Single Anchor Localization","authors":"S. Schmidt, Marco Cimdins, H. Hellbrück","doi":"10.1109/ICL-GNSS.2019.8752644","DOIUrl":"https://doi.org/10.1109/ICL-GNSS.2019.8752644","url":null,"abstract":"Recently, single anchor localization evolves as a new research topic that exploits multipath propagation for calculation of tag positions. With a combination of movement information and particle filters, they provide a precision that is similar to multi-anchor systems. However, a systematic approach to the design and implementation of such systems is not yet available. The combination of theory and mathematical modeling for channel impulse responses is still an open research question that we address in this paper. Therefore, we propose a new representation of a channel impulse response targeted for single anchor localization systems. Based on this representation, we model the relationship between tag positions and channel impulse responses and evaluate the statistic properties of channel impulse responses in this application. In this paper, we introduce a new metric for the assessment of anchor positions, the effective length of CIRs. By the shortest effective length of a set of CIRs, we identify the best anchor position, since it indicates the position where requirements for the measurement of the channel impulse response are lowest.","PeriodicalId":119581,"journal":{"name":"2019 International Conference on Localization and GNSS (ICL-GNSS)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115378293","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}
Pub Date : 2019-06-01DOI: 10.1109/icl-gnss.2019.8752868
{"title":"International Conference on Localization and GNSS","authors":"","doi":"10.1109/icl-gnss.2019.8752868","DOIUrl":"https://doi.org/10.1109/icl-gnss.2019.8752868","url":null,"abstract":"","PeriodicalId":119581,"journal":{"name":"2019 International Conference on Localization and GNSS (ICL-GNSS)","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128960019","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}
Pub Date : 2019-06-01DOI: 10.1109/ICL-GNSS.2019.8752919
M. Gunia, Yibo Lu, N. Joram, F. Ellinger
Nowadays, there are a variety of different indoor positioning systems employing diverse techniques. Often, developers and users only have a rough idea about the essential figure of merits of these systems, first and foremost of the precision, accuracy and costs. In this paper, we analyse the former parameter and establish bounds for any unbiased estimator. In particular, we derive the Cramér-Rao Lower Bound (CRLB). This enables us to compare common approaches and to evaluate their combination with regard to hybrid techniques. As an example, it is shown that even though techniques employing the Received Signal Strength (RSS) are inferior to Time of Arrival (ToA) or Time Difference of Arrival (TDoA), the inclusion of RSS provides a means to significantly improve these systems. Our investigations additionally reveal that not all locations in a scenario exhibit the same errors. We validate our findings by means of simulations and experiments. For the latter we employ Wireless Local Area Networks (WLAN), Ultra-Wideband (UWB) radar and ZigBee.
{"title":"On the Precision of Common Individual or Hybrid Positioning Systems","authors":"M. Gunia, Yibo Lu, N. Joram, F. Ellinger","doi":"10.1109/ICL-GNSS.2019.8752919","DOIUrl":"https://doi.org/10.1109/ICL-GNSS.2019.8752919","url":null,"abstract":"Nowadays, there are a variety of different indoor positioning systems employing diverse techniques. Often, developers and users only have a rough idea about the essential figure of merits of these systems, first and foremost of the precision, accuracy and costs. In this paper, we analyse the former parameter and establish bounds for any unbiased estimator. In particular, we derive the Cramér-Rao Lower Bound (CRLB). This enables us to compare common approaches and to evaluate their combination with regard to hybrid techniques. As an example, it is shown that even though techniques employing the Received Signal Strength (RSS) are inferior to Time of Arrival (ToA) or Time Difference of Arrival (TDoA), the inclusion of RSS provides a means to significantly improve these systems. Our investigations additionally reveal that not all locations in a scenario exhibit the same errors. We validate our findings by means of simulations and experiments. For the latter we employ Wireless Local Area Networks (WLAN), Ultra-Wideband (UWB) radar and ZigBee.","PeriodicalId":119581,"journal":{"name":"2019 International Conference on Localization and GNSS (ICL-GNSS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130448422","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}
Pub Date : 2019-06-01DOI: 10.1109/ICL-GNSS.2019.8752862
G. Gonzalez, I. Petrunin, R. Zbikowski, K. Voutsis, R. V. Moreno
Satellite navigation systems such as the Global Positioning System (GPS)makes it possible for users to find their relative or absolute position. Thanks to its mobility and reliability, the GPS is used in many civil and military applications. However, the GPS does not provide an advanced level of security. Therefore, it could be potentially a target of attacks. With the development of new GPS attacks, the security knowledge has to grow at the same rate, so existing attacks can be detected by updated versions of receiver software or hardware. In this paper, a comparative analysis of GPS receiver resilience to software attacks is performed with the help of GNSS simulator from Spirent. The main objective of this work is to perform a sensitivity analysis of variables involved in calculation of position of the GPS receivers from different price bands that might be targeted by existing or future GPS attack. Variables making the biggest impact on calculated position are determined using the model. Experimentation validation of their influence is performed using selected receivers and corrupted signals generated by GNSS simulator. The testing is based on tuning the selected variables in order to simulate the theoretical error obtained from the sensitivity analysis. The results obtained from testing are discussed in order to analyse the behaviour of the considered GNSS receivers (including the premium class ones)and establish whether they provide a protection from existing or potential GPS attacks.
{"title":"Vulnerability Analysis of GPS Receiver Software","authors":"G. Gonzalez, I. Petrunin, R. Zbikowski, K. Voutsis, R. V. Moreno","doi":"10.1109/ICL-GNSS.2019.8752862","DOIUrl":"https://doi.org/10.1109/ICL-GNSS.2019.8752862","url":null,"abstract":"Satellite navigation systems such as the Global Positioning System (GPS)makes it possible for users to find their relative or absolute position. Thanks to its mobility and reliability, the GPS is used in many civil and military applications. However, the GPS does not provide an advanced level of security. Therefore, it could be potentially a target of attacks. With the development of new GPS attacks, the security knowledge has to grow at the same rate, so existing attacks can be detected by updated versions of receiver software or hardware. In this paper, a comparative analysis of GPS receiver resilience to software attacks is performed with the help of GNSS simulator from Spirent. The main objective of this work is to perform a sensitivity analysis of variables involved in calculation of position of the GPS receivers from different price bands that might be targeted by existing or future GPS attack. Variables making the biggest impact on calculated position are determined using the model. Experimentation validation of their influence is performed using selected receivers and corrupted signals generated by GNSS simulator. The testing is based on tuning the selected variables in order to simulate the theoretical error obtained from the sensitivity analysis. The results obtained from testing are discussed in order to analyse the behaviour of the considered GNSS receivers (including the premium class ones)and establish whether they provide a protection from existing or potential GPS attacks.","PeriodicalId":119581,"journal":{"name":"2019 International Conference on Localization and GNSS (ICL-GNSS)","volume":"84 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132247338","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}
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