Pub Date : 2008-03-27DOI: 10.1109/WPNC.2008.4510354
D. Lieckfeldt, J. You, D. Timmermann
The main purpose of wireless sensor networks is to provide information about an area of interest. In order to fulfill this task, physical parameters have to be measured by as many sensors as possible to improve the knowledge on the sensed area. In contrast, due to the resource-limited nature of sensor networks, the number of actively participating nodes should be kept to a minimum. This paper investigates the trade-off between the two conflicting requirements with special focus on localization of sensor nodes. A distributed algorithm to select subsets of sensor nodes for localization is analyzed regarding the accuracy of localization.
{"title":"Distributed selection of references for localization in wireless sensor networks","authors":"D. Lieckfeldt, J. You, D. Timmermann","doi":"10.1109/WPNC.2008.4510354","DOIUrl":"https://doi.org/10.1109/WPNC.2008.4510354","url":null,"abstract":"The main purpose of wireless sensor networks is to provide information about an area of interest. In order to fulfill this task, physical parameters have to be measured by as many sensors as possible to improve the knowledge on the sensed area. In contrast, due to the resource-limited nature of sensor networks, the number of actively participating nodes should be kept to a minimum. This paper investigates the trade-off between the two conflicting requirements with special focus on localization of sensor nodes. A distributed algorithm to select subsets of sensor nodes for localization is analyzed regarding the accuracy of localization.","PeriodicalId":277539,"journal":{"name":"2008 5th Workshop on Positioning, Navigation and Communication","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133820149","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 : 2008-03-27DOI: 10.1109/WPNC.2008.4510366
A.K.M. Islam, E. Lohan, M. Renfors
Estimation of the carrier to noise ratio (CNR) is one of the most important functionalities of the GPS/Galileo receivers. However, the conventional GPS receivers are not able to satisfy the CNR estimation requirements for the location based services, E-911, and moderate indoor reception. In this paper we derive a total of seven moment based CNR estimators and present the results for the simulation based BOC (binary offset carrier) modulated signal and the measurement based BPSK (binary phase shift keying) modulated signal. We compare the results of the different estimators and find the most robust estimator.
{"title":"Moment based CNR estimators for BOC/BPSK modulated signal for Galileo/GPS","authors":"A.K.M. Islam, E. Lohan, M. Renfors","doi":"10.1109/WPNC.2008.4510366","DOIUrl":"https://doi.org/10.1109/WPNC.2008.4510366","url":null,"abstract":"Estimation of the carrier to noise ratio (CNR) is one of the most important functionalities of the GPS/Galileo receivers. However, the conventional GPS receivers are not able to satisfy the CNR estimation requirements for the location based services, E-911, and moderate indoor reception. In this paper we derive a total of seven moment based CNR estimators and present the results for the simulation based BOC (binary offset carrier) modulated signal and the measurement based BPSK (binary phase shift keying) modulated signal. We compare the results of the different estimators and find the most robust estimator.","PeriodicalId":277539,"journal":{"name":"2008 5th Workshop on Positioning, Navigation and Communication","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132769492","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 : 2008-03-27DOI: 10.1109/WPNC.2008.4510364
S. Olonbayar, R. Kraemer
Ultra-wideband (UWB) has become one of the key technologies in wireless communication industries. In this paper we discuss and evaluate the performance of UWB under different channel conditions when it is applied for wireless sensors. The simulation was carried out for various detection and modulation schemes. Simulation results confirm that UWB with coherent detection outperforms the noncoherent detection the difference being 10dB in SNR to achieve the same performance. Coded UWB improves the performance by another 2dB. Low rate UWB performs better than the high rate one.
{"title":"Performance of UWB and its suitability for wireless sensors","authors":"S. Olonbayar, R. Kraemer","doi":"10.1109/WPNC.2008.4510364","DOIUrl":"https://doi.org/10.1109/WPNC.2008.4510364","url":null,"abstract":"Ultra-wideband (UWB) has become one of the key technologies in wireless communication industries. In this paper we discuss and evaluate the performance of UWB under different channel conditions when it is applied for wireless sensors. The simulation was carried out for various detection and modulation schemes. Simulation results confirm that UWB with coherent detection outperforms the noncoherent detection the difference being 10dB in SNR to achieve the same performance. Coded UWB improves the performance by another 2dB. Low rate UWB performs better than the high rate one.","PeriodicalId":277539,"journal":{"name":"2008 5th Workshop on Positioning, Navigation and Communication","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121374797","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 : 2008-03-27DOI: 10.1109/WPNC.2008.4510369
T. Grigorie
The paper is a study of the errors induced by the inertial sensors in a bidimensional horizontal navigator. In the first stage, the basic equations of the navigator and the navigation solution are presented. Starting from the navigator mathematical model it is realized an error model for this, a model which considers the errors of the used inertial sensors. It is realized the numerical simulation and the validation of the navigator error model using error models for the accelerometers and gyros sensors implemented in Matlab/Simulink. Also, the navigation errors produced by the different categories of errors which affect the inertial sensors are evaluated.
{"title":"Some considerations concerning the influence of the inertial sensors errors on the solution of navigation for a bidimensional strap-down inertial navigation system","authors":"T. Grigorie","doi":"10.1109/WPNC.2008.4510369","DOIUrl":"https://doi.org/10.1109/WPNC.2008.4510369","url":null,"abstract":"The paper is a study of the errors induced by the inertial sensors in a bidimensional horizontal navigator. In the first stage, the basic equations of the navigator and the navigation solution are presented. Starting from the navigator mathematical model it is realized an error model for this, a model which considers the errors of the used inertial sensors. It is realized the numerical simulation and the validation of the navigator error model using error models for the accelerometers and gyros sensors implemented in Matlab/Simulink. Also, the navigation errors produced by the different categories of errors which affect the inertial sensors are evaluated.","PeriodicalId":277539,"journal":{"name":"2008 5th Workshop on Positioning, Navigation and Communication","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132607087","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 : 2008-03-27DOI: 10.1109/WPNC.2008.4510377
M. Nilsson
In wireless sensor networks, there is often a need for nodes to find their position. This process is referred to as localization. Many methods have been proposed for this purpose, but they typically suffer from one of two major problems: Either, they are inaccurate for noisy measurement data, or they require a considerable amount of computation. In this paper, we present a method based on recursive estimation of position from angle-of-arrival measurements by directional antennas. The method computes a new position estimate for every new measurement, using a Kalman filter. Computation is fast and is performed entirely locally. No complex data structure needs to be maintained. A prominent feature of the proposed method is that it applies only a linear Kalman filter.
{"title":"Localization using directional antennas and recursive estimation","authors":"M. Nilsson","doi":"10.1109/WPNC.2008.4510377","DOIUrl":"https://doi.org/10.1109/WPNC.2008.4510377","url":null,"abstract":"In wireless sensor networks, there is often a need for nodes to find their position. This process is referred to as localization. Many methods have been proposed for this purpose, but they typically suffer from one of two major problems: Either, they are inaccurate for noisy measurement data, or they require a considerable amount of computation. In this paper, we present a method based on recursive estimation of position from angle-of-arrival measurements by directional antennas. The method computes a new position estimate for every new measurement, using a Kalman filter. Computation is fast and is performed entirely locally. No complex data structure needs to be maintained. A prominent feature of the proposed method is that it applies only a linear Kalman filter.","PeriodicalId":277539,"journal":{"name":"2008 5th Workshop on Positioning, Navigation and Communication","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122555454","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 : 2008-03-27DOI: 10.1109/WPNC.2008.4510356
Dirk Ahlers, M. Pielot, D. Wichmann, Susanne CJ Boll
Localization is a vital part of mobile applications. However, the quality of predominant GNSS-based localization remains inadequate for high-precision scenarios for mobile users. Based on previous work, we discuss the relevance of GNSS for mobile applications focusing in particular on mobile pedestrians. We present selected pedestrian-oriented application types and derive quality requirements towards GNSS-based positioning technologies. Drawing from our experience, we present current shortcomings of GPS-based positioning. We discuss their impact on application design and outline exemplary strategies of how developers could address these. We argue for an integration of GNSS quality considerations into the design process to enable applications to transparently deal with inaccuracies even for future, more demanding scenarios. Then we can provide innovative pedestrian applications to users on-the-spot, enriching their daily lives.
{"title":"GNSS quality in pedestrian applications - a developer perspective","authors":"Dirk Ahlers, M. Pielot, D. Wichmann, Susanne CJ Boll","doi":"10.1109/WPNC.2008.4510356","DOIUrl":"https://doi.org/10.1109/WPNC.2008.4510356","url":null,"abstract":"Localization is a vital part of mobile applications. However, the quality of predominant GNSS-based localization remains inadequate for high-precision scenarios for mobile users. Based on previous work, we discuss the relevance of GNSS for mobile applications focusing in particular on mobile pedestrians. We present selected pedestrian-oriented application types and derive quality requirements towards GNSS-based positioning technologies. Drawing from our experience, we present current shortcomings of GPS-based positioning. We discuss their impact on application design and outline exemplary strategies of how developers could address these. We argue for an integration of GNSS quality considerations into the design process to enable applications to transparently deal with inaccuracies even for future, more demanding scenarios. Then we can provide innovative pedestrian applications to users on-the-spot, enriching their daily lives.","PeriodicalId":277539,"journal":{"name":"2008 5th Workshop on Positioning, Navigation and Communication","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126307057","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 : 2008-03-27DOI: 10.1109/WPNC.2008.4510382
D. Macagnano, G. Abreu
We consider the problem of tracking multiple targets in the presence of noise and a mixture of line-of-sight (LoS) and non-line-of-sight (NLoS) conditions. The targets are assumed to describe independent trajectories with non-stationary (dynamic) statistics, i.e., with variable velocities and accelerations (limited in absolute value). These moving targets are observed by fixed anchors, which measure the distance between themselves and each target periodically. LoS and NLoS conditions are modeled by a first order time-homogeneous Markov chain, such that the occurrence, the intensity and the persistence (duration) of transitions between LoS and NLoS states are random but according to the steady state distribution of the process. The challenge, therefore, is that such variations are difficult to detect in the presence of noise and target mobility, and if not corrected, may result in severe degradation of tracking accuracy. In order to mitigate this problem we introduce a wavelet-based technique to simultaneously attenuate the noise effect on ranging and detect the LoS-NLoS transitions, allowing for their subsequent correction. The technique is non-parametric, in which no knowledge of the statistics of the LoS/NLoS transition process is assumed. The impact of such pre-filtering on the performance of the Multidimensional Scaling (MDS) tracking algorithm (proposed in an earlier work) is studied, and for the LoS case compared against the error performance for classic Extended Kalman Filter (EKF). It is shown that the MDS-based tracking algorithm with Jacobian eigenspace updating together with wavelet pre-filtering is superior (at the region of interest) to the EKF approach, and can well cope with mixed LoS-NLoS scenarios.
{"title":"Tracking multiple dynamic targets in LoS-NLoS condition with multidimensional scaling","authors":"D. Macagnano, G. Abreu","doi":"10.1109/WPNC.2008.4510382","DOIUrl":"https://doi.org/10.1109/WPNC.2008.4510382","url":null,"abstract":"We consider the problem of tracking multiple targets in the presence of noise and a mixture of line-of-sight (LoS) and non-line-of-sight (NLoS) conditions. The targets are assumed to describe independent trajectories with non-stationary (dynamic) statistics, i.e., with variable velocities and accelerations (limited in absolute value). These moving targets are observed by fixed anchors, which measure the distance between themselves and each target periodically. LoS and NLoS conditions are modeled by a first order time-homogeneous Markov chain, such that the occurrence, the intensity and the persistence (duration) of transitions between LoS and NLoS states are random but according to the steady state distribution of the process. The challenge, therefore, is that such variations are difficult to detect in the presence of noise and target mobility, and if not corrected, may result in severe degradation of tracking accuracy. In order to mitigate this problem we introduce a wavelet-based technique to simultaneously attenuate the noise effect on ranging and detect the LoS-NLoS transitions, allowing for their subsequent correction. The technique is non-parametric, in which no knowledge of the statistics of the LoS/NLoS transition process is assumed. The impact of such pre-filtering on the performance of the Multidimensional Scaling (MDS) tracking algorithm (proposed in an earlier work) is studied, and for the LoS case compared against the error performance for classic Extended Kalman Filter (EKF). It is shown that the MDS-based tracking algorithm with Jacobian eigenspace updating together with wavelet pre-filtering is superior (at the region of interest) to the EKF approach, and can well cope with mixed LoS-NLoS scenarios.","PeriodicalId":277539,"journal":{"name":"2008 5th Workshop on Positioning, Navigation and Communication","volume":"117 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132657574","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 : 2008-03-27DOI: 10.1109/WPNC.2008.4510358
J. Kemper, H. Linde
In this paper a new approach for locating people indoors is proposed. Since location based services become relevant for an increasing number of people, e. g. the location dependent automatic control of lighting, there is a need for unobtrusive and easy to use location systems. Especially in the field of healthcare, where the monitoring of elderly people becomes more and more important, such a system is mandatory. However, most of the existing solutions require people to wear a special hardware tag. To overcome this drawback, we propose a localization approach exploiting the thermal radiation of humans. For this purpose, existing sensor technologies are evaluated and the arising challenges and according counteractive measures are discussed. Finally, a simple triangulation based localization algorithm and the results of some early-stage experiments are presented.
{"title":"Challenges of passive infrared indoor localization","authors":"J. Kemper, H. Linde","doi":"10.1109/WPNC.2008.4510358","DOIUrl":"https://doi.org/10.1109/WPNC.2008.4510358","url":null,"abstract":"In this paper a new approach for locating people indoors is proposed. Since location based services become relevant for an increasing number of people, e. g. the location dependent automatic control of lighting, there is a need for unobtrusive and easy to use location systems. Especially in the field of healthcare, where the monitoring of elderly people becomes more and more important, such a system is mandatory. However, most of the existing solutions require people to wear a special hardware tag. To overcome this drawback, we propose a localization approach exploiting the thermal radiation of humans. For this purpose, existing sensor technologies are evaluated and the arising challenges and according counteractive measures are discussed. Finally, a simple triangulation based localization algorithm and the results of some early-stage experiments are presented.","PeriodicalId":277539,"journal":{"name":"2008 5th Workshop on Positioning, Navigation and Communication","volume":"377 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124703386","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 : 2008-03-27DOI: 10.1109/WPNC.2008.4510376
Widyawan, M. Klepal, S. Beauregard
It is known that Particle Filter and Map Filtering techniques can be used to improve the performance of positioning systems, such as Pedestrian Dead Reckoning (PDR). In previous research on indoor navigation, it was generally assumed that detailed building plans were available. However, in many emer gency / rescue scenarios, there may be only limited building plan information on hand. The purpose of this paper is to show how a novel Backtracking Particle Filter (BPF) can be combined with different levels of building plan detail to improve PDR performance. We use real PDR stride length and blunder-prone stride azimuth data which were collected from multiple walks along paths in and out of a small office building. The PDR displacement data is input to the BPF estimator that in turn uses the building plan information to constrain particle motions. The BPF can take advantage of long-range (geometrical) constraint information and yields excellent positioning performance (1.32 m mean 2D error) with detailed building plan information. More significantly, this same filter using only external wall information produces dramatically improved positioning performance (1.89 m mean 2D error) relative to a PDR-only, no map base case (8.04 m mean 2D error). This effect may very well occur for many other realistic wall layouts and path geometries. Moreover, this result has a substantial practical significance since this level of building plan detail could be quickly and easily generated in many emergency instances.
{"title":"A Backtracking Particle Filter for fusing building plans with PDR displacement estimates","authors":"Widyawan, M. Klepal, S. Beauregard","doi":"10.1109/WPNC.2008.4510376","DOIUrl":"https://doi.org/10.1109/WPNC.2008.4510376","url":null,"abstract":"It is known that Particle Filter and Map Filtering techniques can be used to improve the performance of positioning systems, such as Pedestrian Dead Reckoning (PDR). In previous research on indoor navigation, it was generally assumed that detailed building plans were available. However, in many emer gency / rescue scenarios, there may be only limited building plan information on hand. The purpose of this paper is to show how a novel Backtracking Particle Filter (BPF) can be combined with different levels of building plan detail to improve PDR performance. We use real PDR stride length and blunder-prone stride azimuth data which were collected from multiple walks along paths in and out of a small office building. The PDR displacement data is input to the BPF estimator that in turn uses the building plan information to constrain particle motions. The BPF can take advantage of long-range (geometrical) constraint information and yields excellent positioning performance (1.32 m mean 2D error) with detailed building plan information. More significantly, this same filter using only external wall information produces dramatically improved positioning performance (1.89 m mean 2D error) relative to a PDR-only, no map base case (8.04 m mean 2D error). This effect may very well occur for many other realistic wall layouts and path geometries. Moreover, this result has a substantial practical significance since this level of building plan detail could be quickly and easily generated in many emergency instances.","PeriodicalId":277539,"journal":{"name":"2008 5th Workshop on Positioning, Navigation and Communication","volume":"75 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127104224","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 : 2008-03-27DOI: 10.1109/WPNC.2008.4510383
G. Rahmatollahi, M. Guirao, S. Galler, T. Kaiser
This paper presents positioning results determined by a multi-layer, packet based OMNet++ simulator for communication and positioning in an autonomous wireless sensor network. The simulator includes an IR-UWB physical layer model considering the impact of multi-user interference, a highly flexible MAC layer which performs physical layer adaptations to optimize the total link performance, and a ranging and positioning module. We will give an estimation of the positioning accuracy of the system by considering ideal, LOS and NLOS channel conditions.
{"title":"Position estimation in IR-UWB autonomous wireless sensor networks","authors":"G. Rahmatollahi, M. Guirao, S. Galler, T. Kaiser","doi":"10.1109/WPNC.2008.4510383","DOIUrl":"https://doi.org/10.1109/WPNC.2008.4510383","url":null,"abstract":"This paper presents positioning results determined by a multi-layer, packet based OMNet++ simulator for communication and positioning in an autonomous wireless sensor network. The simulator includes an IR-UWB physical layer model considering the impact of multi-user interference, a highly flexible MAC layer which performs physical layer adaptations to optimize the total link performance, and a ranging and positioning module. We will give an estimation of the positioning accuracy of the system by considering ideal, LOS and NLOS channel conditions.","PeriodicalId":277539,"journal":{"name":"2008 5th Workshop on Positioning, Navigation and Communication","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133555452","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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