Pub Date : 2023-04-24DOI: 10.1109/PLANS53410.2023.10139929
A. Brown, Dien Nguyen, Tom Silva, J. Redd, Adrin Linan
To address the loss of GPS position and timing information, alternative solutions that do not rely on GPS satellite constellation are needed. The PNTaaS solution developed by NAVSYS allows existing broadband SATCOM satellites to be used as signals of opportunity (SoOP) to bound inertial and clock errors and allow Assured PNT devices to maintain accurate positioning and timing in long-term GPS outages. By partnering with operators of global commercial SATCOM service providers, the PNTaaS technology provides a cost-effective capability to provide a global back-up PNT solution. In this paper, the open architecture PNTaaS solution is described, which provides data services to deliver timing and signal information from multiple broadband satellite constellations. Test results are presented from a Software Defined Radio using these services to provide Time of Arrival (TOA) updates to an inertial and clock A-PNT device. The benefits of using SoOP operating in both geostationary (GEO) and non-geostationary satellite orbits (NGSO) is shown through a combination of simulation and test results to demonstrate the ability to provide a precision back-up PNT capability which can operate in the absence of GPS
{"title":"PNT as a Service (PNTaaS): Providing a Resilient Back-Up to GPS by Leveraging Broadband Satellite Constellations and Ground Infrastructure","authors":"A. Brown, Dien Nguyen, Tom Silva, J. Redd, Adrin Linan","doi":"10.1109/PLANS53410.2023.10139929","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10139929","url":null,"abstract":"To address the loss of GPS position and timing information, alternative solutions that do not rely on GPS satellite constellation are needed. The PNTaaS solution developed by NAVSYS allows existing broadband SATCOM satellites to be used as signals of opportunity (SoOP) to bound inertial and clock errors and allow Assured PNT devices to maintain accurate positioning and timing in long-term GPS outages. By partnering with operators of global commercial SATCOM service providers, the PNTaaS technology provides a cost-effective capability to provide a global back-up PNT solution. In this paper, the open architecture PNTaaS solution is described, which provides data services to deliver timing and signal information from multiple broadband satellite constellations. Test results are presented from a Software Defined Radio using these services to provide Time of Arrival (TOA) updates to an inertial and clock A-PNT device. The benefits of using SoOP operating in both geostationary (GEO) and non-geostationary satellite orbits (NGSO) is shown through a combination of simulation and test results to demonstrate the ability to provide a precision back-up PNT capability which can operate in the absence of GPS","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129320805","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 : 2023-04-24DOI: 10.1109/PLANS53410.2023.10139984
Ilyar Asl Sabbaghian Hokmabadi, M. Ai, Chrysostomos Minaretzis, M. Sideris, N. El-Sheimy
Pose detection of objects is an important topic in object-level mapping and indoor localization. In the past, pose estimation methods were performed either with the help of artificial markers or natural features found on the object. However, due to the fact that the markers can only be utilized in controlled environment experiments, the application of marker-based approaches is very limited. Furthermore, methods that depend on the object's natural visual features require texture on the object and lack robustness to illumination and camera viewpoint variations. With the advent of Deep Learning (DL), the classical pose estimation methods have been outperformed. The DL-based pose estimation can detect deep features of the object and exhibits higher robustness to many distortions and variabilities caused by the changes in the illumination and viewpoint conditions. However, the massive training data set requirement is the main challenge with most DL-based methods. The training set is often a real set of images that have been manually labeled or annotated. In addition, such methods face problems related to the degradation of their predicted accuracy in the presence of uncertainties due to the symmetrical structure of many objects. To address the aforementioned issues, a novel and very fast method for generating synthetic data, as well as a contour-based technique for accurate pose estimation (that can handle pose ambiguities for a symmetrical object) are proposed in this paper. The tests that are conducted in multiple indoor scenarios demonstrate not only the effectiveness of the synthetic data generation but also exhibit, in many cases, the very high accuracy of the proposed pose estimation method.
{"title":"Accurate and Scalable Contour-based Camera Pose Estimation Using Deep Learning with Synthetic Data","authors":"Ilyar Asl Sabbaghian Hokmabadi, M. Ai, Chrysostomos Minaretzis, M. Sideris, N. El-Sheimy","doi":"10.1109/PLANS53410.2023.10139984","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10139984","url":null,"abstract":"Pose detection of objects is an important topic in object-level mapping and indoor localization. In the past, pose estimation methods were performed either with the help of artificial markers or natural features found on the object. However, due to the fact that the markers can only be utilized in controlled environment experiments, the application of marker-based approaches is very limited. Furthermore, methods that depend on the object's natural visual features require texture on the object and lack robustness to illumination and camera viewpoint variations. With the advent of Deep Learning (DL), the classical pose estimation methods have been outperformed. The DL-based pose estimation can detect deep features of the object and exhibits higher robustness to many distortions and variabilities caused by the changes in the illumination and viewpoint conditions. However, the massive training data set requirement is the main challenge with most DL-based methods. The training set is often a real set of images that have been manually labeled or annotated. In addition, such methods face problems related to the degradation of their predicted accuracy in the presence of uncertainties due to the symmetrical structure of many objects. To address the aforementioned issues, a novel and very fast method for generating synthetic data, as well as a contour-based technique for accurate pose estimation (that can handle pose ambiguities for a symmetrical object) are proposed in this paper. The tests that are conducted in multiple indoor scenarios demonstrate not only the effectiveness of the synthetic data generation but also exhibit, in many cases, the very high accuracy of the proposed pose estimation method.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121849175","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 : 2023-04-24DOI: 10.1109/PLANS53410.2023.10140004
Robert M. Tenny, Lisong Sun, Alper Duru, T. Humphreys
This paper presents a novel headset tracking frame-work designed for extended reality (XR) applications. The growth of XR demands accurate and robust tracking mechanisms that are suitable for both indoor and outdoor environments and offer anchoring to a global reference frame. By loosely coupling a visual simultaneous localization and mapping (SLAM) algorithm to a tightly-coupled carrier phase differential GNSS (CDGNSS) and inertial sensor subsystem, the proposed system aims to achieve centimeter-accurate, globally-referenced tracking that persists during extended periods of GNSS degradation. Collaborative and persistent XR experiences are enabled through accurate map creation utilizing a bundle adjustment approach for map generation and maintenance. Cloud or near-edge offloading of computationally demanding steps in the pipeline is explored to reduce the computational demand on the headset. Robust tracking performance is evaluated in terms of odometric drift under GNSS outages. This paper also explores the benefit of additional headset tracking constraints offered by direction-of-arrival measurements to nearby cellular base stations. Such measurements will become available as future wireless standards make increasing use of mmWave frequencies.
{"title":"Robust Absolute Headset Tracking for Extended Reality","authors":"Robert M. Tenny, Lisong Sun, Alper Duru, T. Humphreys","doi":"10.1109/PLANS53410.2023.10140004","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10140004","url":null,"abstract":"This paper presents a novel headset tracking frame-work designed for extended reality (XR) applications. The growth of XR demands accurate and robust tracking mechanisms that are suitable for both indoor and outdoor environments and offer anchoring to a global reference frame. By loosely coupling a visual simultaneous localization and mapping (SLAM) algorithm to a tightly-coupled carrier phase differential GNSS (CDGNSS) and inertial sensor subsystem, the proposed system aims to achieve centimeter-accurate, globally-referenced tracking that persists during extended periods of GNSS degradation. Collaborative and persistent XR experiences are enabled through accurate map creation utilizing a bundle adjustment approach for map generation and maintenance. Cloud or near-edge offloading of computationally demanding steps in the pipeline is explored to reduce the computational demand on the headset. Robust tracking performance is evaluated in terms of odometric drift under GNSS outages. This paper also explores the benefit of additional headset tracking constraints offered by direction-of-arrival measurements to nearby cellular base stations. Such measurements will become available as future wireless standards make increasing use of mmWave frequencies.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125882534","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 : 2023-04-24DOI: 10.1109/PLANS53410.2023.10140129
J. Rife, Patrick Elwood, H. Wassaf
This paper analyzes the integrity risk allocation for automated driving applications involving lane keeping, with an emphasis on converting a risk-per-mile specification into a risk-per-event specification. The integrity risk allocation is the basis for defining a confidence bound (or protection level) for the navigation sensor error (NSE) distribution. For the vehicle to operate safely, the protection level must not exceed the alert limit, a geometric bound that specifies the worst-case tolerable error. In this comparison, the NSE distribution describes the range of values expected from the random error at a particular instant. However, safety targets are typically quoted on a per-mile or per-hour basis. Thus, research is needed to determine the frequency per mile (or hour) of independent events that cause a loss of integrity. This paper models lane keeping in two-way traffic to estimate, for that use case, the rate of occurrence of hazardous events. We combine these models with 2019 data for a particular road segment (part of MA Route 16). For that roadway, we estimate an events/mile rate of 19 in heavy traffic, 0.27 in low traffic, with a mean of 9.5 averaged over a typical weekday.
{"title":"Event-Based Risk Assessment for Alert Limits in Automotive Lane Keeping","authors":"J. Rife, Patrick Elwood, H. Wassaf","doi":"10.1109/PLANS53410.2023.10140129","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10140129","url":null,"abstract":"This paper analyzes the integrity risk allocation for automated driving applications involving lane keeping, with an emphasis on converting a risk-per-mile specification into a risk-per-event specification. The integrity risk allocation is the basis for defining a confidence bound (or protection level) for the navigation sensor error (NSE) distribution. For the vehicle to operate safely, the protection level must not exceed the alert limit, a geometric bound that specifies the worst-case tolerable error. In this comparison, the NSE distribution describes the range of values expected from the random error at a particular instant. However, safety targets are typically quoted on a per-mile or per-hour basis. Thus, research is needed to determine the frequency per mile (or hour) of independent events that cause a loss of integrity. This paper models lane keeping in two-way traffic to estimate, for that use case, the rate of occurrence of hazardous events. We combine these models with 2019 data for a particular road segment (part of MA Route 16). For that roadway, we estimate an events/mile rate of 19 in heavy traffic, 0.27 in low traffic, with a mean of 9.5 averaged over a typical weekday.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128811023","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 : 2023-04-24DOI: 10.1109/PLANS53410.2023.10140017
J. R. V. D. Merwe, Iñigo Cortés, Muhammad Saad, F. Garzia, A. Rügamer, M. Overbeck, W. Felber
Interference signals from privacy protection devices (PPDs) degrade global navigation satellite system (GNSS) per-formance and must be mitigated. This article presents practical results with the multi-parameter adaptive notch filter (MPANF) against a commercial-off-the-shelf (COTS) PPD. Additionally, the wavelet-based multi-parameter adaptive notch filter (WMPANF) is proposed as a method to combine the tracking superiority of the MPANF with the decimation and parallel processing capabilities of the wavelet-based adaptive notch filter (WANF) for better adaption to wide-band GNSS receivers. The results show that a WMPANF with four bands outperforms a standard adaptive notch filter (ANF). Additionally, the MPANF has less than 3 dB performance reduction compared to a standard ANF but has comparable position accuracy. The article presents the first practical results of the MPANF and proposes the new WMPANF architecture. Even though they are still new and future optimization is possible, both approaches yield promising results.
{"title":"Comparison of interference mitigation with adaptive notch filter architectures against privacy protection devices","authors":"J. R. V. D. Merwe, Iñigo Cortés, Muhammad Saad, F. Garzia, A. Rügamer, M. Overbeck, W. Felber","doi":"10.1109/PLANS53410.2023.10140017","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10140017","url":null,"abstract":"Interference signals from privacy protection devices (PPDs) degrade global navigation satellite system (GNSS) per-formance and must be mitigated. This article presents practical results with the multi-parameter adaptive notch filter (MPANF) against a commercial-off-the-shelf (COTS) PPD. Additionally, the wavelet-based multi-parameter adaptive notch filter (WMPANF) is proposed as a method to combine the tracking superiority of the MPANF with the decimation and parallel processing capabilities of the wavelet-based adaptive notch filter (WANF) for better adaption to wide-band GNSS receivers. The results show that a WMPANF with four bands outperforms a standard adaptive notch filter (ANF). Additionally, the MPANF has less than 3 dB performance reduction compared to a standard ANF but has comparable position accuracy. The article presents the first practical results of the MPANF and proposes the new WMPANF architecture. Even though they are still new and future optimization is possible, both approaches yield promising results.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117299545","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 : 2023-04-24DOI: 10.1109/PLANS53410.2023.10140133
V. D. Pietra, P. Dabove
The ultra wide band signal, like many other radio signals, is constantly used for relative distance estimations through time-of-flight measurements. Unlike Wi-Fi or Bluetooth signals, however, the UWB signal has characteristics that make it particularly useful for short-range and indoor distance measurements. As a result, UWB-based technologies have established themselves in numerous application areas where accuracy and frequency are crucial. UWB positioning systems are nowadays used to track the movement of people and guide them in navigation tasks in hospitals, stadiums, public offices and subways. They are also mounted on land vehicles and aircraft for autonomous navigation applications as well as used for various applications in retail, healthcare and industrial automation. The integration of UWB sensors in new-generation smartphones opens up new opportunities in the field of positioning and navigation, especially with the widespread use of mobile phones and their intensive use in everyday life. In this article, a comprehensive study on UWB ranging with smartphones is presented. Unlike previous literature, where external UWB sensors were integrated with mobile phones, our study is based on the analysis of systems already integrated within mobile phones and their integration with android APIs. In particular, the focus is on analysing the (relative) ranging performance between two mobile phones equipped with UWB chipsets and providing an overview of the android APIs and their compatibility with UWBs.
{"title":"Recent advances for UWB ranging from Android Smartphone","authors":"V. D. Pietra, P. Dabove","doi":"10.1109/PLANS53410.2023.10140133","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10140133","url":null,"abstract":"The ultra wide band signal, like many other radio signals, is constantly used for relative distance estimations through time-of-flight measurements. Unlike Wi-Fi or Bluetooth signals, however, the UWB signal has characteristics that make it particularly useful for short-range and indoor distance measurements. As a result, UWB-based technologies have established themselves in numerous application areas where accuracy and frequency are crucial. UWB positioning systems are nowadays used to track the movement of people and guide them in navigation tasks in hospitals, stadiums, public offices and subways. They are also mounted on land vehicles and aircraft for autonomous navigation applications as well as used for various applications in retail, healthcare and industrial automation. The integration of UWB sensors in new-generation smartphones opens up new opportunities in the field of positioning and navigation, especially with the widespread use of mobile phones and their intensive use in everyday life. In this article, a comprehensive study on UWB ranging with smartphones is presented. Unlike previous literature, where external UWB sensors were integrated with mobile phones, our study is based on the analysis of systems already integrated within mobile phones and their integration with android APIs. In particular, the focus is on analysing the (relative) ranging performance between two mobile phones equipped with UWB chipsets and providing an overview of the android APIs and their compatibility with UWBs.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127355714","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 : 2023-04-24DOI: 10.1109/PLANS53410.2023.10140084
Mark Mercier, D. Curtis
On-orbit inspection is often a necessary prerequisite to satellite operations such as servicing and debris removal. In particular, multiple inspectors collaborating to inspect an unknown object can result in a faster and more comprehensive inspection. The contribution of this research is to provide a reliable, computationally efficient estimate for the position of each agent relative to a target in a multi-agent inspection. First, an overview of the problem dynamics, background, and methods used to build and solve a factor graph-based estimation technique is provided. Through the implementation of a Sliding Window (SW) filter, a factor graph can be applied to long duration scenarios while reducing processing requirements for estimation. An example scenario of three agents attempting to conduct an inspection while susceptible to a Sun exclusion zone that nulls some measurement information is prescribed. Development continues by comparing results for the developed Sliding Window Factor Graph (SWFG) against two extreme SW sizes of interest: an iterative Kalman filter (SW size = 1) and a full factor graph (SW size ≥ scenario duration). Results reveal the impact of both the Sun exclusion zone and sliding window size on estimation quality and computation time.
{"title":"Relative Navigation Methods for a Multi-Agent, On-Orbit Inspection Mission","authors":"Mark Mercier, D. Curtis","doi":"10.1109/PLANS53410.2023.10140084","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10140084","url":null,"abstract":"On-orbit inspection is often a necessary prerequisite to satellite operations such as servicing and debris removal. In particular, multiple inspectors collaborating to inspect an unknown object can result in a faster and more comprehensive inspection. The contribution of this research is to provide a reliable, computationally efficient estimate for the position of each agent relative to a target in a multi-agent inspection. First, an overview of the problem dynamics, background, and methods used to build and solve a factor graph-based estimation technique is provided. Through the implementation of a Sliding Window (SW) filter, a factor graph can be applied to long duration scenarios while reducing processing requirements for estimation. An example scenario of three agents attempting to conduct an inspection while susceptible to a Sun exclusion zone that nulls some measurement information is prescribed. Development continues by comparing results for the developed Sliding Window Factor Graph (SWFG) against two extreme SW sizes of interest: an iterative Kalman filter (SW size = 1) and a full factor graph (SW size ≥ scenario duration). Results reveal the impact of both the Sun exclusion zone and sliding window size on estimation quality and computation time.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126792782","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 : 2023-04-24DOI: 10.1109/PLANS53410.2023.10140126
J. Duník, O. Kost, O. Straka, Ondrej Daniel
This paper deals with identification of GNSS pseudo range measurement noise properties, which vary with satellite elevation. In particular, a special version of the analytically derived measurement difference method, which is a correlation method for noise properties estimation, is proposed and analysed. The method is then applied to noise properties estimation of Galileo E5b signal using a real recorded data set.
{"title":"GNSS Pseudorange Measurement Noise Identification by Measurement Difference Method","authors":"J. Duník, O. Kost, O. Straka, Ondrej Daniel","doi":"10.1109/PLANS53410.2023.10140126","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10140126","url":null,"abstract":"This paper deals with identification of GNSS pseudo range measurement noise properties, which vary with satellite elevation. In particular, a special version of the analytically derived measurement difference method, which is a correlation method for noise properties estimation, is proposed and analysed. The method is then applied to noise properties estimation of Galileo E5b signal using a real recorded data set.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131362979","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 : 2023-04-24DOI: 10.1109/PLANS53410.2023.10140040
O. Kaltiokallio, H. Yi̇ği̇tler, J. Talvitie, M. Valkama
Radio frequency sensor networks can be utilized for locating and tracking people within coverage area of the network. The technology is based on the fact that humans alter properties of the wireless propagation channel which is observed in the channel estimates, enabling tracking without requiring people to carry any sensor, tag or device. Considerable efforts have been made to model the human induced perturbations to the channel and develop flexible models that adapt to the unique propagation environment to which the network is deployed in. This paper proposes a noteworthy conceptual shift in the design of passive localization and tracking systems as the focus is shifted from channel modeling to filter design. We approach the problem using random finite set theory enabling us to model detections, missed detections, false alarms and unknown data association in a rigorous manner. The Bayesian filtering recursion applied with random finite sets is presented and a computationally tractable Gaussian sum filter is developed. The development efforts of the paper are validated using experimental data and the results imply that the proposed approach can decrease the tracking error up to 48% with respect to a benchmark solution.
{"title":"Random Finite Set Approach to Signal Strength Based Passive Localization and Tracking","authors":"O. Kaltiokallio, H. Yi̇ği̇tler, J. Talvitie, M. Valkama","doi":"10.1109/PLANS53410.2023.10140040","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10140040","url":null,"abstract":"Radio frequency sensor networks can be utilized for locating and tracking people within coverage area of the network. The technology is based on the fact that humans alter properties of the wireless propagation channel which is observed in the channel estimates, enabling tracking without requiring people to carry any sensor, tag or device. Considerable efforts have been made to model the human induced perturbations to the channel and develop flexible models that adapt to the unique propagation environment to which the network is deployed in. This paper proposes a noteworthy conceptual shift in the design of passive localization and tracking systems as the focus is shifted from channel modeling to filter design. We approach the problem using random finite set theory enabling us to model detections, missed detections, false alarms and unknown data association in a rigorous manner. The Bayesian filtering recursion applied with random finite sets is presented and a computationally tractable Gaussian sum filter is developed. The development efforts of the paper are validated using experimental data and the results imply that the proposed approach can decrease the tracking error up to 48% with respect to a benchmark solution.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114059618","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 : 2023-04-24DOI: 10.1109/PLANS53410.2023.10140073
B. Siebler, S. Sand, U. Hanebeck
In this paper, the theoretically achievable accuracy of magnetic field-based localization in railway environments is analyzed. The analysis is based on the Bayesian Cramér-Rao lower bound (BCRLB) that bounds the mean squared error of an estimator from below. The derivation of the BCRLB for magnetic field-based localization is not straightforward because the magnetic field cannot be described by an analytical equation but must be derived from measurements. In this paper we show how the BCRLB can be calculated by fitting a Gaussian process (GP) to magnetometer measurements to obtain an analytical expression of the magnetic field along a railway line. The proposed GP-based BCRLB is evaluated with the magnetic field of a 1 km long track segment. Furthermore, a comparison between the bound and the estimation error of a particle filter shows the sub-optimality of the particle filter for magnetic railway localization.
{"title":"Bayesian Cramér-Rao Lower Bounds for Magnetic Field-based Train Localization","authors":"B. Siebler, S. Sand, U. Hanebeck","doi":"10.1109/PLANS53410.2023.10140073","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10140073","url":null,"abstract":"In this paper, the theoretically achievable accuracy of magnetic field-based localization in railway environments is analyzed. The analysis is based on the Bayesian Cramér-Rao lower bound (BCRLB) that bounds the mean squared error of an estimator from below. The derivation of the BCRLB for magnetic field-based localization is not straightforward because the magnetic field cannot be described by an analytical equation but must be derived from measurements. In this paper we show how the BCRLB can be calculated by fitting a Gaussian process (GP) to magnetometer measurements to obtain an analytical expression of the magnetic field along a railway line. The proposed GP-based BCRLB is evaluated with the magnetic field of a 1 km long track segment. Furthermore, a comparison between the bound and the estimation error of a particle filter shows the sub-optimality of the particle filter for magnetic railway localization.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114295591","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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