Pub Date : 2016-10-01DOI: 10.1109/WPNC.2016.7822855
Ioan Domuta, T. Palade
The aim of this paper is to emphasize the benefits of using the information provided by the UWB network for the Adaptive Kalman Filtering (AKF). The standard 802.15.4 specifies in the section PHY UWB the field of parameters Ranging FoM, parameters that show the trust level of the receiver in determining the reception moment of leading edge of the ranging pulse. Using the specified parameters, Confidence Interval and Confidence Level, and based on statistical theory the current standard deviation is determined for every anchor of the network. The standard deviations of the anchors are combined in order to get the observation covariance for the Kalman filtering. In the steady state the innovation should be within the Confidence Region ellipsoid and if the innovation does not fall in that region the filter diverges or it is biased and it should be online tuned. The difference between the innovation and the Confidence Interval will constitute the information for adjustment of the state covariance in the Kalman Filter.
{"title":"Adaptive Kalman Filter for target tracking in the UWB networks","authors":"Ioan Domuta, T. Palade","doi":"10.1109/WPNC.2016.7822855","DOIUrl":"https://doi.org/10.1109/WPNC.2016.7822855","url":null,"abstract":"The aim of this paper is to emphasize the benefits of using the information provided by the UWB network for the Adaptive Kalman Filtering (AKF). The standard 802.15.4 specifies in the section PHY UWB the field of parameters Ranging FoM, parameters that show the trust level of the receiver in determining the reception moment of leading edge of the ranging pulse. Using the specified parameters, Confidence Interval and Confidence Level, and based on statistical theory the current standard deviation is determined for every anchor of the network. The standard deviations of the anchors are combined in order to get the observation covariance for the Kalman filtering. In the steady state the innovation should be within the Confidence Region ellipsoid and if the innovation does not fall in that region the filter diverges or it is biased and it should be online tuned. The difference between the innovation and the Confidence Interval will constitute the information for adjustment of the state covariance in the Kalman Filter.","PeriodicalId":148664,"journal":{"name":"2016 13th Workshop on Positioning, Navigation and Communications (WPNC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129123503","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 : 2016-10-01DOI: 10.1109/WPNC.2016.7822854
Ahmad El Assaad, Markus Krug, G. Fischer
In this paper a vehicle self-localization approach in an urban traffic intersection scenario is proposed. A sensor data fusion of azimuth angle of arrival (AOA) and estimated distance measurements with speed and heading information using an Extended Kalman Filter (EKF) is carried out to track the vehicle location. Furthermore, a concept for cooperative localization (CL) is introduced based on device-to-device (D2D) communication with a spatial based selection algorithm, which classifies the significance of received signals from neighboring vehicles for cooperative localization. For simulation purposes an inter-cell interference coordination (ICIC) is deployed in the network planning to mitigate the effect of interference from neighbor sectors of the same base station and from cells of neighbor base stations. Simulation results show that the proposed vehicle self-localization approach provides a lane accurate localization of the vehicle within 150m radius with respect to the traffic intersection origin considering inter-cell interference and multipath propagation.
{"title":"Vehicle self-localization for advanced driver assistance systems","authors":"Ahmad El Assaad, Markus Krug, G. Fischer","doi":"10.1109/WPNC.2016.7822854","DOIUrl":"https://doi.org/10.1109/WPNC.2016.7822854","url":null,"abstract":"In this paper a vehicle self-localization approach in an urban traffic intersection scenario is proposed. A sensor data fusion of azimuth angle of arrival (AOA) and estimated distance measurements with speed and heading information using an Extended Kalman Filter (EKF) is carried out to track the vehicle location. Furthermore, a concept for cooperative localization (CL) is introduced based on device-to-device (D2D) communication with a spatial based selection algorithm, which classifies the significance of received signals from neighboring vehicles for cooperative localization. For simulation purposes an inter-cell interference coordination (ICIC) is deployed in the network planning to mitigate the effect of interference from neighbor sectors of the same base station and from cells of neighbor base stations. Simulation results show that the proposed vehicle self-localization approach provides a lane accurate localization of the vehicle within 150m radius with respect to the traffic intersection origin considering inter-cell interference and multipath propagation.","PeriodicalId":148664,"journal":{"name":"2016 13th Workshop on Positioning, Navigation and Communications (WPNC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129505394","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 : 2016-10-01DOI: 10.1109/WPNC.2016.7822836
M. Dashti, H. Claussen
Indoor localization is a key enabling technology for numerous location based services (LBS). A promising indoor localization technique is location fingerprinting (LF), having the major advantage of exploiting already existing radio infrastructures. LF can accurately estimate the user's location providing reliable RF fingerprints, that are unique and stable over time, are available. We propose a method to enhance the LF by exploiting the spatio-temporal characteristics of RF signals. The method quantifies an access point's (AP) significance for location estimation based on spatial uniqueness and temporal stability characteristics of its RF signals. Based on the proposed significance metric, APs contribute with different weights to the location estimation. By weighting the measurements, more reliable input data are provided to the localization algorithm which consequently results in improved LF performance.
{"title":"A metric to describe access point significance in location estimation","authors":"M. Dashti, H. Claussen","doi":"10.1109/WPNC.2016.7822836","DOIUrl":"https://doi.org/10.1109/WPNC.2016.7822836","url":null,"abstract":"Indoor localization is a key enabling technology for numerous location based services (LBS). A promising indoor localization technique is location fingerprinting (LF), having the major advantage of exploiting already existing radio infrastructures. LF can accurately estimate the user's location providing reliable RF fingerprints, that are unique and stable over time, are available. We propose a method to enhance the LF by exploiting the spatio-temporal characteristics of RF signals. The method quantifies an access point's (AP) significance for location estimation based on spatial uniqueness and temporal stability characteristics of its RF signals. Based on the proposed significance metric, APs contribute with different weights to the location estimation. By weighting the measurements, more reliable input data are provided to the localization algorithm which consequently results in improved LF performance.","PeriodicalId":148664,"journal":{"name":"2016 13th Workshop on Positioning, Navigation and Communications (WPNC)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126441596","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 : 2016-10-01DOI: 10.1109/WPNC.2016.7822860
M. Gunia, F. Protze, N. Joram, F. Ellinger
With the advanced performance offered by modern embedded systems and the continuous development of ever more complex applications, integration of positioning techniques into these systems gets increased attention. The pressure to reduce the time to market creates a need to rapidly designing subsystems for localization. For indoor applications, quickly employable received signal strength-based methods like Bluetooth or WLAN have the drawback of poor accuracy. In contrast, proprietary solutions providing high accuracy, e.g. FMCW radar, require enormous development efforts and thus are costly. Furthermore, most systems suffer from multi-path effects, finally degrading positioning performance. Ultra-Wideband offers accuracy in the centimetre range, moreover alleviating multi-path due to utilizing high bandwidth. After including positioning support in the IEEE 802.15.4a standard, the first commercial Ultra-Wideband IC are now available. The paper presents the steps taken to build a fully working positioning system based on off-the-shelf components and introduces the necessary background knowledge. Specifically, the hardware and software design is described, costs are evaluated, and measurements regarding the accuracy of the final system are executed. Two positioning techniques, i.e. Circular and Hyperbolic, are compared. Both provide an average error of around 30 cm, but differ in the maximum error.
{"title":"Setting up an Ultra-Wideband positioning system using off-the-shelf components","authors":"M. Gunia, F. Protze, N. Joram, F. Ellinger","doi":"10.1109/WPNC.2016.7822860","DOIUrl":"https://doi.org/10.1109/WPNC.2016.7822860","url":null,"abstract":"With the advanced performance offered by modern embedded systems and the continuous development of ever more complex applications, integration of positioning techniques into these systems gets increased attention. The pressure to reduce the time to market creates a need to rapidly designing subsystems for localization. For indoor applications, quickly employable received signal strength-based methods like Bluetooth or WLAN have the drawback of poor accuracy. In contrast, proprietary solutions providing high accuracy, e.g. FMCW radar, require enormous development efforts and thus are costly. Furthermore, most systems suffer from multi-path effects, finally degrading positioning performance. Ultra-Wideband offers accuracy in the centimetre range, moreover alleviating multi-path due to utilizing high bandwidth. After including positioning support in the IEEE 802.15.4a standard, the first commercial Ultra-Wideband IC are now available. The paper presents the steps taken to build a fully working positioning system based on off-the-shelf components and introduces the necessary background knowledge. Specifically, the hardware and software design is described, costs are evaluated, and measurements regarding the accuracy of the final system are executed. Two positioning techniques, i.e. Circular and Hyperbolic, are compared. Both provide an average error of around 30 cm, but differ in the maximum error.","PeriodicalId":148664,"journal":{"name":"2016 13th Workshop on Positioning, Navigation and Communications (WPNC)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115366260","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 : 2016-10-01DOI: 10.1109/WPNC.2016.7822840
M. Padmanabha, Christian Schott, Marko Rößler, Daniel Kriesten, U. Heinkel
This paper presents the use of ZYNQ-7000 All Programmable SoC for flexible object recognition applications targeted for indoor mapping and localization. The architecture of the system is designed to provide the necessary infrastructure to support hardware software partitioning. Vivado HLS OpenCV libraries are used to synthesize the hardware for accelerating parts of the algorithms. Idea of identifying door handles serves as an opportunity to find paths for further navigation. Therefore, door handles and knobs served as target objects to be located in an image scene of the university corridor as a sample use case. The algorithm which performs object detection is implemented as a image data processing chain consisting of Sobel filter unit, Hough Line Transform unit and Oriented FAST and Rotated BRIEF unit. The Hough Line Transform extracts the lines from image scene to further locate the region of interest, while Oriented FAST and Rotated BRIEF extracts the image feature. Partitioning of algorithm is performed iteratively by moving the computation intensive tasks to the Programmable Logic and executing the rest of the algorithm on Processing System to achieve a balance between available hardware resource and acceptable frame rates. The resulting system positively identifies the object of interest at acceptable frame rates and with optimal system resource utilization.
{"title":"ZYNQ flexible platform for object recognition & tracking","authors":"M. Padmanabha, Christian Schott, Marko Rößler, Daniel Kriesten, U. Heinkel","doi":"10.1109/WPNC.2016.7822840","DOIUrl":"https://doi.org/10.1109/WPNC.2016.7822840","url":null,"abstract":"This paper presents the use of ZYNQ-7000 All Programmable SoC for flexible object recognition applications targeted for indoor mapping and localization. The architecture of the system is designed to provide the necessary infrastructure to support hardware software partitioning. Vivado HLS OpenCV libraries are used to synthesize the hardware for accelerating parts of the algorithms. Idea of identifying door handles serves as an opportunity to find paths for further navigation. Therefore, door handles and knobs served as target objects to be located in an image scene of the university corridor as a sample use case. The algorithm which performs object detection is implemented as a image data processing chain consisting of Sobel filter unit, Hough Line Transform unit and Oriented FAST and Rotated BRIEF unit. The Hough Line Transform extracts the lines from image scene to further locate the region of interest, while Oriented FAST and Rotated BRIEF extracts the image feature. Partitioning of algorithm is performed iteratively by moving the computation intensive tasks to the Programmable Logic and executing the rest of the algorithm on Processing System to achieve a balance between available hardware resource and acceptable frame rates. The resulting system positively identifies the object of interest at acceptable frame rates and with optimal system resource utilization.","PeriodicalId":148664,"journal":{"name":"2016 13th Workshop on Positioning, Navigation and Communications (WPNC)","volume":"142 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124537539","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 : 2016-10-01DOI: 10.1109/WPNC.2016.7822856
A. Figueroa, B. Al-Qudsi, N. Joram, F. Ellinger
In this work, two positioning systems based on the two-way ranging synchronization-protocol, are discussed and compared. A frequency modulated continuous wave (FMCW), and a ultra wide band (UWB) radio detection and ranging (Radar) setup are used for this comparison. Indoor and outdoor ranging measurements between one host and one tag node were performed and evaluated. These radar systems present an alternative to global positioning system (GPS) tracking, especially for indoor use, where GPS does not work reliably or at all. This is due to the requirement of GPS of a perfect line Of sight (LOS) connection between satellites and the object to be tracked. The FMCW system was superior in raw measurement quality with accuracy below 25 cm, as well as measured maximum range with 70 m (FMCW) against 30 m (UWB). Worst-case precision was measured to be 2.3 cm (FMCW) against 2.8 cm (UWB). The UWB system allows for very high update rates of 400 Hz with low computational effort.
本文对两种基于双向测距同步协议的定位系统进行了讨论和比较。频率调制连续波(FMCW)和超宽带(UWB)无线电探测和测距(雷达)设置用于此比较。在一个主机和一个标签节点之间进行室内和室外测距测量并进行评估。这些雷达系统提供了全球定位系统(GPS)跟踪的替代方案，特别是用于室内使用，GPS不可靠或根本无法工作。这是由于GPS要求卫星和被跟踪对象之间有一个完美的视线(LOS)连接。FMCW系统在原始测量质量方面具有优势，精度低于25 cm，最大测量范围为70 m (FMCW)和30 m (UWB)。最坏精度测量为2.3 cm (FMCW)对2.8 cm (UWB)。UWB系统允许400 Hz的非常高的更新速率，并且计算量很低。
{"title":"Comparison of two-way ranging with FMCW and UWB radar systems","authors":"A. Figueroa, B. Al-Qudsi, N. Joram, F. Ellinger","doi":"10.1109/WPNC.2016.7822856","DOIUrl":"https://doi.org/10.1109/WPNC.2016.7822856","url":null,"abstract":"In this work, two positioning systems based on the two-way ranging synchronization-protocol, are discussed and compared. A frequency modulated continuous wave (FMCW), and a ultra wide band (UWB) radio detection and ranging (Radar) setup are used for this comparison. Indoor and outdoor ranging measurements between one host and one tag node were performed and evaluated. These radar systems present an alternative to global positioning system (GPS) tracking, especially for indoor use, where GPS does not work reliably or at all. This is due to the requirement of GPS of a perfect line Of sight (LOS) connection between satellites and the object to be tracked. The FMCW system was superior in raw measurement quality with accuracy below 25 cm, as well as measured maximum range with 70 m (FMCW) against 30 m (UWB). Worst-case precision was measured to be 2.3 cm (FMCW) against 2.8 cm (UWB). The UWB system allows for very high update rates of 400 Hz with low computational effort.","PeriodicalId":148664,"journal":{"name":"2016 13th Workshop on Positioning, Navigation and Communications (WPNC)","volume":"255 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123604279","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 : 2016-10-01DOI: 10.1109/WPNC.2016.7822859
J. Engelbrecht, Richard Weber, O. Michler
In today's Intelligent Transportation Systems (ITS) accurate positioning information plays an increasing role. The automated registration and counting of passengers in public transportation and ticketing systems are based on the localization of passengers. Techniques leant on wireless sensor networks (WSNs) are an increasingly popular approach for estimating positions in a wide area of applications. Indoor environments like vehicular scenarios have strong multipath characteristics. Therefore, the WSN localization is limited by shadowing, reflexions, interferences and especially multipath propagation. The present paper deals with the application of special beam forming antennas and uniform circular arrays (UCAs) at a mobile sensor node for localization in vehicular scenarios to reduce the multipath propagation influences.
{"title":"Reduction of multipath propagation influences at PoA positioning using uniform circular array antennas analyses based on measurements in vehicular scenarios","authors":"J. Engelbrecht, Richard Weber, O. Michler","doi":"10.1109/WPNC.2016.7822859","DOIUrl":"https://doi.org/10.1109/WPNC.2016.7822859","url":null,"abstract":"In today's Intelligent Transportation Systems (ITS) accurate positioning information plays an increasing role. The automated registration and counting of passengers in public transportation and ticketing systems are based on the localization of passengers. Techniques leant on wireless sensor networks (WSNs) are an increasingly popular approach for estimating positions in a wide area of applications. Indoor environments like vehicular scenarios have strong multipath characteristics. Therefore, the WSN localization is limited by shadowing, reflexions, interferences and especially multipath propagation. The present paper deals with the application of special beam forming antennas and uniform circular arrays (UCAs) at a mobile sensor node for localization in vehicular scenarios to reduce the multipath propagation influences.","PeriodicalId":148664,"journal":{"name":"2016 13th Workshop on Positioning, Navigation and Communications (WPNC)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133240123","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 : 2016-10-01DOI: 10.1109/WPNC.2016.7822852
T. Speth, Alexander Kamann, T. Brandmeier, U. Jumar
Intelligent Transportation System (ITS) applications for integral and cooperative vehicle safety as well as some Advanced Driver Assistance Systems (ADASs) benefit from highly accurate positioning. Shared position data between dynamic traffic objects via Inter-Vehicle Communication (IVC) are the backbone for deriving vehicle trajectories. These can be used for assessing a situation's criticality in vehicle safety. However, with conventional Global Navigation Satellite System (GNSS) measurements, e.g. using Global Positioning System (GPS), the required accuracy cannot be achieved. There are known Cooperative Positioning (CP) methods like Differential GNSS (DGNSS) and Real-Time Kinematic (RTK) for enhanced positioning. Augmentation data are typically transmitted by a wireless communication link like cellular mobile communication. However, there exist dead spots where no correction data are available. For this reason, we introduce in this paper a method for stand-alone RTK by using own stored observations. Thereby, precise relative ego-positioning is possible during correction data interruption. The buffer time is varied in experiment and the error distribution is analyzed.
{"title":"Precise relative ego-positioning by stand-alone RTK-GPS","authors":"T. Speth, Alexander Kamann, T. Brandmeier, U. Jumar","doi":"10.1109/WPNC.2016.7822852","DOIUrl":"https://doi.org/10.1109/WPNC.2016.7822852","url":null,"abstract":"Intelligent Transportation System (ITS) applications for integral and cooperative vehicle safety as well as some Advanced Driver Assistance Systems (ADASs) benefit from highly accurate positioning. Shared position data between dynamic traffic objects via Inter-Vehicle Communication (IVC) are the backbone for deriving vehicle trajectories. These can be used for assessing a situation's criticality in vehicle safety. However, with conventional Global Navigation Satellite System (GNSS) measurements, e.g. using Global Positioning System (GPS), the required accuracy cannot be achieved. There are known Cooperative Positioning (CP) methods like Differential GNSS (DGNSS) and Real-Time Kinematic (RTK) for enhanced positioning. Augmentation data are typically transmitted by a wireless communication link like cellular mobile communication. However, there exist dead spots where no correction data are available. For this reason, we introduce in this paper a method for stand-alone RTK by using own stored observations. Thereby, precise relative ego-positioning is possible during correction data interruption. The buffer time is varied in experiment and the error distribution is analyzed.","PeriodicalId":148664,"journal":{"name":"2016 13th Workshop on Positioning, Navigation and Communications (WPNC)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131216674","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 : 2016-10-01DOI: 10.1109/WPNC.2016.7822853
Hiro Onishi, Kazuo Yoshida, Takeshi Kato
The progress of vehicle-automation requires vehicle location with higher accuracy, shorter time-delay, and higher time-resolution, furthermore, many safety connected-vehicle applications, for example, crash-warning with vehicle-to-vehicle communication require more accurate time-stamps on the data from individual vehicles. Therefore, GNSS (Global Navigation Satellite System) typified by GPS (Global Positioning System) which is currently applied to non-safety vehicle applications, has to detect more accurate location with shorter time-delay and higher time-resolution. However, the low signal strength of GNSS reception-signals on the earth and the widely disclosed GNSS signal format bring vulnerabilities of signal jamming and location/clock spoofing. In this report, first, we examine accuracy, latency, and time-resolution requirements of location-detection on each vehicle application which (may) use GNSS. Then we discuss how GNSS vulnerabilities may harm vehicle applications. Finally, we conclude this report with various technical countermeasures and government/industry initiatives against these GNSS vulnerabilities.
{"title":"GNSS vulnerabilities and vehicle applications","authors":"Hiro Onishi, Kazuo Yoshida, Takeshi Kato","doi":"10.1109/WPNC.2016.7822853","DOIUrl":"https://doi.org/10.1109/WPNC.2016.7822853","url":null,"abstract":"The progress of vehicle-automation requires vehicle location with higher accuracy, shorter time-delay, and higher time-resolution, furthermore, many safety connected-vehicle applications, for example, crash-warning with vehicle-to-vehicle communication require more accurate time-stamps on the data from individual vehicles. Therefore, GNSS (Global Navigation Satellite System) typified by GPS (Global Positioning System) which is currently applied to non-safety vehicle applications, has to detect more accurate location with shorter time-delay and higher time-resolution. However, the low signal strength of GNSS reception-signals on the earth and the widely disclosed GNSS signal format bring vulnerabilities of signal jamming and location/clock spoofing. In this report, first, we examine accuracy, latency, and time-resolution requirements of location-detection on each vehicle application which (may) use GNSS. Then we discuss how GNSS vulnerabilities may harm vehicle applications. Finally, we conclude this report with various technical countermeasures and government/industry initiatives against these GNSS vulnerabilities.","PeriodicalId":148664,"journal":{"name":"2016 13th Workshop on Positioning, Navigation and Communications (WPNC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122224676","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 : 2016-10-01DOI: 10.1109/WPNC.2016.7822839
Cristian Pana, S. Severi, G. Abreu
Accurate and flexible probability density estimation is fundamental in machine learning tasks, in classification and routine data analyses applications. In this paper we propose an adaptive version of the Histogram Trend Filtering (HTF), which is a relatively new method used for non-parametric density estimation. This technique enjoys low computational complexity, while being able to automatically detect abrupt changes in the underlying dynamics of the estimated distribution. Therefore, it can deal with estimating both stationary and non-stationary distributions.
{"title":"An adaptive approach to non-parametric estimation of dynamic probability density functions","authors":"Cristian Pana, S. Severi, G. Abreu","doi":"10.1109/WPNC.2016.7822839","DOIUrl":"https://doi.org/10.1109/WPNC.2016.7822839","url":null,"abstract":"Accurate and flexible probability density estimation is fundamental in machine learning tasks, in classification and routine data analyses applications. In this paper we propose an adaptive version of the Histogram Trend Filtering (HTF), which is a relatively new method used for non-parametric density estimation. This technique enjoys low computational complexity, while being able to automatically detect abrupt changes in the underlying dynamics of the estimated distribution. Therefore, it can deal with estimating both stationary and non-stationary distributions.","PeriodicalId":148664,"journal":{"name":"2016 13th Workshop on Positioning, Navigation and Communications (WPNC)","volume":"552 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116397130","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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