Pub Date : 2012-03-15DOI: 10.1109/WPNC.2012.6268731
R. Vaghefi, R. Buehrer
Cooperative time-of-arrival-based sensor localization in a non-line-of-sight (NLOS) environment is investigated. Cooperative sensor localization plays an important role in indoor networks where GPS is limited. However, indoor networks suffer from NLOS propagation which degrades localization accuracy significantly. In this paper, we assume that the estimator is able to discriminate NLOS connections from line-of-sight (LOS) connections. We introduce a novel semidefinite programming (SDP) approach for cooperative localization which exploits NLOS connections to enhance the accuracy of localization. The performance of the proposed algorithm is compared with that of the maximum likelihood estimator and previously considered algorithms. Computer simulations show the excellent performance of the proposed SDP approach.
{"title":"Cooperative sensor localization with NLOS mitigation using semidefinite programming","authors":"R. Vaghefi, R. Buehrer","doi":"10.1109/WPNC.2012.6268731","DOIUrl":"https://doi.org/10.1109/WPNC.2012.6268731","url":null,"abstract":"Cooperative time-of-arrival-based sensor localization in a non-line-of-sight (NLOS) environment is investigated. Cooperative sensor localization plays an important role in indoor networks where GPS is limited. However, indoor networks suffer from NLOS propagation which degrades localization accuracy significantly. In this paper, we assume that the estimator is able to discriminate NLOS connections from line-of-sight (LOS) connections. We introduce a novel semidefinite programming (SDP) approach for cooperative localization which exploits NLOS connections to enhance the accuracy of localization. The performance of the proposed algorithm is compared with that of the maximum likelihood estimator and previously considered algorithms. Computer simulations show the excellent performance of the proposed SDP approach.","PeriodicalId":399340,"journal":{"name":"2012 9th Workshop on Positioning, Navigation and Communication","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124218444","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 : 2012-03-15DOI: 10.1109/WPNC.2012.6268764
W. Gerok, J. Peissig, T. Kaiser
This paper considers ultra-wideband (UWB) based localization of mobile users in indoor environment. Because of severe multipath indoor localization still presents a challenging issue and UWB is often considered as technology enabling precise localization. Typically for UWB Time of Flight (TOF) based approaches like Time of Arrival (TOA) or Time Difference of Arrival (TDOA) are applied. Recently also localization based on Received Signal Strength (RSS) is gaining more interest, where position of the transmitting device is calculated based on the RSS on several Base Stations (BS) with known positions. To perform the positioning the transmit power must be known. This paper considers Received Signal Strength Difference (RSSD) based positioning, which does not require the knowledge of the transmit power. The positioning is further assisted with TDOA measurement. It is shown that including only one single TDOA information improves the localization performance significantly.
{"title":"TDOA assisted RSSD localization in UWB","authors":"W. Gerok, J. Peissig, T. Kaiser","doi":"10.1109/WPNC.2012.6268764","DOIUrl":"https://doi.org/10.1109/WPNC.2012.6268764","url":null,"abstract":"This paper considers ultra-wideband (UWB) based localization of mobile users in indoor environment. Because of severe multipath indoor localization still presents a challenging issue and UWB is often considered as technology enabling precise localization. Typically for UWB Time of Flight (TOF) based approaches like Time of Arrival (TOA) or Time Difference of Arrival (TDOA) are applied. Recently also localization based on Received Signal Strength (RSS) is gaining more interest, where position of the transmitting device is calculated based on the RSS on several Base Stations (BS) with known positions. To perform the positioning the transmit power must be known. This paper considers Received Signal Strength Difference (RSSD) based positioning, which does not require the knowledge of the transmit power. The positioning is further assisted with TDOA measurement. It is shown that including only one single TDOA information improves the localization performance significantly.","PeriodicalId":399340,"journal":{"name":"2012 9th Workshop on Positioning, Navigation and Communication","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126656688","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 : 2012-03-15DOI: 10.1109/WPNC.2012.6268748
M. Raspopoulos, C. Laoudias, L. Kanaris, Akis Kokkinis, C. Panayiotou, S. Stavrou
We study the use of 3D Ray Tracing (RT) to construct radiomaps for WLAN Received Signal Strength (RSS) fingerprint-based positioning, in conjunction with calibration techniques to make the overall process device-independent. RSS data collection might be a tedious and time-consuming process and also the measured radiomap accuracy and applicability is subject to potential changes in the wireless environment. Therefore, RT becomes a more attractive and efficient way to generate radiomaps. Moreover, traditional fingerprint-based methods lead to radiomaps which are restricted to the device used to generate the radiomap and fail to provide acceptable performance when different devices are considered. We address both challenges by exploiting 3D RT-generated radiomaps and using linear data transformation to match the characteristics of various devices. We evaluate the efficiency of this approach in terms of the time spent to create the radiomap, the amount of data required to calibrate the radiomap for different devices and the positioning error which is compared against the case of using dedicated radiomaps collected with each device.
{"title":"3D Ray Tracing for device-independent fingerprint-based positioning in WLANs","authors":"M. Raspopoulos, C. Laoudias, L. Kanaris, Akis Kokkinis, C. Panayiotou, S. Stavrou","doi":"10.1109/WPNC.2012.6268748","DOIUrl":"https://doi.org/10.1109/WPNC.2012.6268748","url":null,"abstract":"We study the use of 3D Ray Tracing (RT) to construct radiomaps for WLAN Received Signal Strength (RSS) fingerprint-based positioning, in conjunction with calibration techniques to make the overall process device-independent. RSS data collection might be a tedious and time-consuming process and also the measured radiomap accuracy and applicability is subject to potential changes in the wireless environment. Therefore, RT becomes a more attractive and efficient way to generate radiomaps. Moreover, traditional fingerprint-based methods lead to radiomaps which are restricted to the device used to generate the radiomap and fail to provide acceptable performance when different devices are considered. We address both challenges by exploiting 3D RT-generated radiomaps and using linear data transformation to match the characteristics of various devices. We evaluate the efficiency of this approach in terms of the time spent to create the radiomap, the amount of data required to calibrate the radiomap for different devices and the positioning error which is compared against the case of using dedicated radiomaps collected with each device.","PeriodicalId":399340,"journal":{"name":"2012 9th Workshop on Positioning, Navigation and Communication","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128953578","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 : 2012-03-15DOI: 10.1109/WPNC.2012.6268768
Richard Weber, Erik Mademann, O. Michler, S. Zeisberg
We consider localization techniques based on wireless sensor networks (WSN), which are a promising technology to achieve highly accurate positioning solutions. Hence, this paper provides an overview of the concept of localization in modern railway applications, e.g. locating trains in storage sidings. Different geometrical scenarios are analyzed by using real measurement data. Generally, position estimation in WSNs is based on distance measuring by means of time-of-flight (TOF) ranging techniques. To employ radio frequency - (RF) based positioning here, we introduce weighting combinations least squares (WECOLS), an extended LS positioning approach, for computing positions by determining the space of possible estimations generated from the input data. Furthermore we investigate WECOLS according to accuracy compared with LS and least median squares (LMS).
{"title":"Localization techniques for traffic applications based on robust WECOLS positioning in wireless sensor networks","authors":"Richard Weber, Erik Mademann, O. Michler, S. Zeisberg","doi":"10.1109/WPNC.2012.6268768","DOIUrl":"https://doi.org/10.1109/WPNC.2012.6268768","url":null,"abstract":"We consider localization techniques based on wireless sensor networks (WSN), which are a promising technology to achieve highly accurate positioning solutions. Hence, this paper provides an overview of the concept of localization in modern railway applications, e.g. locating trains in storage sidings. Different geometrical scenarios are analyzed by using real measurement data. Generally, position estimation in WSNs is based on distance measuring by means of time-of-flight (TOF) ranging techniques. To employ radio frequency - (RF) based positioning here, we introduce weighting combinations least squares (WECOLS), an extended LS positioning approach, for computing positions by determining the space of possible estimations generated from the input data. Furthermore we investigate WECOLS according to accuracy compared with LS and least median squares (LMS).","PeriodicalId":399340,"journal":{"name":"2012 9th Workshop on Positioning, Navigation and Communication","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127692622","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 : 2012-03-15DOI: 10.1109/WPNC.2012.6268766
A. Freedman
The paper discusses the problem of estimating the velocity of a mobile cellular terminal within an urban, multipath-rich environment, using available geographical information such as terrain and building maps. The method suggested in the paper is the use of ray tracing in order to characterize the propagation environment. The paper discusses the usage of Doppler processing of a signal received from a single antenna and suggests using a two stage algorithm - location followed by velocity estimation. The paper presents an algorithm and an error analysis describing the potential sources of errors encountered in implementation including inaccuracies in the geographical and network databases, measurement accuracy and location accuracy.
{"title":"Velocity estimation of cellular terminals in urban environment using ray tracing","authors":"A. Freedman","doi":"10.1109/WPNC.2012.6268766","DOIUrl":"https://doi.org/10.1109/WPNC.2012.6268766","url":null,"abstract":"The paper discusses the problem of estimating the velocity of a mobile cellular terminal within an urban, multipath-rich environment, using available geographical information such as terrain and building maps. The method suggested in the paper is the use of ray tracing in order to characterize the propagation environment. The paper discusses the usage of Doppler processing of a signal received from a single antenna and suggests using a two stage algorithm - location followed by velocity estimation. The paper presents an algorithm and an error analysis describing the potential sources of errors encountered in implementation including inaccuracies in the geographical and network databases, measurement accuracy and location accuracy.","PeriodicalId":399340,"journal":{"name":"2012 9th Workshop on Positioning, Navigation and Communication","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131923374","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 : 2012-03-15DOI: 10.1109/WPNC.2012.6268734
Johannes Schmid, Tobias Gädeke, Dorothy W. Curtis, J. Ledlie
Personal location discovery and navigation within buildings has become an important research topic in the last years. One method to determine one's current position based on mobile-devices is to compare the set of available WiFi access points (APs), i.e. the fingerprint of a given space, to a previously collected database. In this context, this paper addresses the inherent problem of such systems that this fingerprint database needs to be established beforehand. Thus, situations can occur where a building is only partially represented in the database and localization can only be provided in a subset of the spaces of the building. This problem occurs especially in crowd-sourcing (organic) approaches where users consecutively contribute location-binds. In these situations an additional system is needed to provide localization. We present a first study on the fusion of pedestrian dead reckoning (PDR) from inertial sensors with position estimates from a WiFi localization system. We outline a possible design of particle filter and analyze its behavior on experimental data. We conclude that the outlined method can help to improve WiFi localization and is especially useful within crowd-sourcing environments.
{"title":"Improving sparse organic WiFi localization with inertial sensors","authors":"Johannes Schmid, Tobias Gädeke, Dorothy W. Curtis, J. Ledlie","doi":"10.1109/WPNC.2012.6268734","DOIUrl":"https://doi.org/10.1109/WPNC.2012.6268734","url":null,"abstract":"Personal location discovery and navigation within buildings has become an important research topic in the last years. One method to determine one's current position based on mobile-devices is to compare the set of available WiFi access points (APs), i.e. the fingerprint of a given space, to a previously collected database. In this context, this paper addresses the inherent problem of such systems that this fingerprint database needs to be established beforehand. Thus, situations can occur where a building is only partially represented in the database and localization can only be provided in a subset of the spaces of the building. This problem occurs especially in crowd-sourcing (organic) approaches where users consecutively contribute location-binds. In these situations an additional system is needed to provide localization. We present a first study on the fusion of pedestrian dead reckoning (PDR) from inertial sensors with position estimates from a WiFi localization system. We outline a possible design of particle filter and analyze its behavior on experimental data. We conclude that the outlined method can help to improve WiFi localization and is especially useful within crowd-sourcing environments.","PeriodicalId":399340,"journal":{"name":"2012 9th Workshop on Positioning, Navigation and Communication","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129564387","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 : 2012-03-15DOI: 10.1109/WPNC.2012.6268763
R. Hach, A. Rommel
This paper presents a method for time base synchronization between independent nodes which communicate over a wireless medium. It is shown that the malicious effects of multipath propagation are minimized and precise time base synchronization is achieved.
{"title":"Wireless synchronization in time difference of arrival based real time locating systems","authors":"R. Hach, A. Rommel","doi":"10.1109/WPNC.2012.6268763","DOIUrl":"https://doi.org/10.1109/WPNC.2012.6268763","url":null,"abstract":"This paper presents a method for time base synchronization between independent nodes which communicate over a wireless medium. It is shown that the malicious effects of multipath propagation are minimized and precise time base synchronization is achieved.","PeriodicalId":399340,"journal":{"name":"2012 9th Workshop on Positioning, Navigation and Communication","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122148144","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 : 2012-03-15DOI: 10.1109/WPNC.2012.6268751
Yakup Kilic, Ameenulla J. Ali, A. Meijerink, M. Bentum, W. Scanlon
Because of its superior time resolution, ultra-wide bandwidth (UWB) transmission can be a highly accurate technique for ranging in indoor localization systems. Nevertheless, the presence of obstructions may deteriorate the ranging performance of the system. Indoor environments are often densely populated with people. However, th e effect of the human body presence has been scarcely investigated so far within the UWB ranging context. In this work, we investigate this effect by conducting UWB measurements and analyzing the ranging performance of the system. Two measurement campaigns were performed in the 3-5.5 GHz band, in an anechoic chamber and a laboratory environment. The range estimates were obtained by employing the threshold-based first peak detection technique. Analysis results revealed that the human body significantly attenuates the direct-path signal component. On the other hand, in this study it does not introduce a significant range error since the length difference between the diffracted paths around the body and the direct-path is less than the spatial resolution of the measurement setup.
{"title":"The effect of human-body shadowing on indoor UWB TOA-based ranging systems","authors":"Yakup Kilic, Ameenulla J. Ali, A. Meijerink, M. Bentum, W. Scanlon","doi":"10.1109/WPNC.2012.6268751","DOIUrl":"https://doi.org/10.1109/WPNC.2012.6268751","url":null,"abstract":"Because of its superior time resolution, ultra-wide bandwidth (UWB) transmission can be a highly accurate technique for ranging in indoor localization systems. Nevertheless, the presence of obstructions may deteriorate the ranging performance of the system. Indoor environments are often densely populated with people. However, th e effect of the human body presence has been scarcely investigated so far within the UWB ranging context. In this work, we investigate this effect by conducting UWB measurements and analyzing the ranging performance of the system. Two measurement campaigns were performed in the 3-5.5 GHz band, in an anechoic chamber and a laboratory environment. The range estimates were obtained by employing the threshold-based first peak detection technique. Analysis results revealed that the human body significantly attenuates the direct-path signal component. On the other hand, in this study it does not introduce a significant range error since the length difference between the diffracted paths around the body and the direct-path is less than the spatial resolution of the measurement setup.","PeriodicalId":399340,"journal":{"name":"2012 9th Workshop on Positioning, Navigation and Communication","volume":"285 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132519045","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 : 2012-03-15DOI: 10.1109/WPNC.2012.6268746
Troels Laursen, N. B. Pedersen, J. Nielsen, T. Madsen
Indoors, a user's movements are typically confined by walls, corridors, and doorways, and further he is typically repeating the same movements such as walking between certain points in the building. Conventional indoor localization systems do usually not take these properties of the user's movements into account. In this paper we propose a Hidden Markov Model (HMM) based tracking algorithm, which takes a user's previous movements into account. In a quantized grid representation of an indoor scenario, past movement information is used to update the HMM transition probabilities. The user's most likely trajectory is then calculated using and extended version of the Viterbi algorithm. The results show significant improvements of the proposed algorithm compared to a simpler moving average smoothing.
{"title":"Hidden Markov Model based mobility learning fo improving indoor tracking of mobile users","authors":"Troels Laursen, N. B. Pedersen, J. Nielsen, T. Madsen","doi":"10.1109/WPNC.2012.6268746","DOIUrl":"https://doi.org/10.1109/WPNC.2012.6268746","url":null,"abstract":"Indoors, a user's movements are typically confined by walls, corridors, and doorways, and further he is typically repeating the same movements such as walking between certain points in the building. Conventional indoor localization systems do usually not take these properties of the user's movements into account. In this paper we propose a Hidden Markov Model (HMM) based tracking algorithm, which takes a user's previous movements into account. In a quantized grid representation of an indoor scenario, past movement information is used to update the HMM transition probabilities. The user's most likely trajectory is then calculated using and extended version of the Viterbi algorithm. The results show significant improvements of the proposed algorithm compared to a simpler moving average smoothing.","PeriodicalId":399340,"journal":{"name":"2012 9th Workshop on Positioning, Navigation and Communication","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131815385","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 : 2012-03-15DOI: 10.1109/WPNC.2012.6268756
M. Romanovas, J. Trapnauskas, L. Klingbeil, M. Traechtler, Y. Manoli
The work presents the development and evaluation of uncertainty-based range measurement selection criteria for active sensing within a localization scenario. The simulated setup consists of a mobile unit equipped with a gyroscope, an incremental encoder, and being capable to measure the distance to a finite number of stationary anchors with known positions and associated position uncertainties. The work discusses several major methods for anchor selection based on expected uncertainty minimization and compares them to heuristics methods. The developed techniques are evaluated for non-ideal anchor scenario and different measurement rates.
{"title":"Localization scenario with active sensing for range measurements","authors":"M. Romanovas, J. Trapnauskas, L. Klingbeil, M. Traechtler, Y. Manoli","doi":"10.1109/WPNC.2012.6268756","DOIUrl":"https://doi.org/10.1109/WPNC.2012.6268756","url":null,"abstract":"The work presents the development and evaluation of uncertainty-based range measurement selection criteria for active sensing within a localization scenario. The simulated setup consists of a mobile unit equipped with a gyroscope, an incremental encoder, and being capable to measure the distance to a finite number of stationary anchors with known positions and associated position uncertainties. The work discusses several major methods for anchor selection based on expected uncertainty minimization and compares them to heuristics methods. The developed techniques are evaluated for non-ideal anchor scenario and different measurement rates.","PeriodicalId":399340,"journal":{"name":"2012 9th Workshop on Positioning, Navigation and Communication","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127262752","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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