Pub Date : 2012-03-15DOI: 10.1109/WPNC.2012.6268745
E. Staudinger, S. Sand
This paper presents a concept for a generic mixed hardware/software test-bed to evaluate state of the art and future round-trip-delay ranging concepts and estimation algorithms. The system presented is mainly comprised of commercial-off-the-shelf components. It supports orthogonal frequency division multiplex (OFDM), direct sequence spread spectrum (DSSS) or chirp pulses. The test-bed gives us the flexibility to transfer estimation algorithms from theory directly to a prototype where we are free to choose between mixed MATLAB, field programmable gate array (FPGA) and software implementations. We give an insight view into the overall architecture, its properties, possibilities and limitations. Furthermore, we show link budget calculations and the expected performance with Cramér-Rao lower bounds (CRLB) for this system based on state-of-the-art OFDM block-type synchronization symbols which are also used in 3GPP-LTE.
{"title":"Generic real-time round-trip-delay test-bed for cooperative positioning","authors":"E. Staudinger, S. Sand","doi":"10.1109/WPNC.2012.6268745","DOIUrl":"https://doi.org/10.1109/WPNC.2012.6268745","url":null,"abstract":"This paper presents a concept for a generic mixed hardware/software test-bed to evaluate state of the art and future round-trip-delay ranging concepts and estimation algorithms. The system presented is mainly comprised of commercial-off-the-shelf components. It supports orthogonal frequency division multiplex (OFDM), direct sequence spread spectrum (DSSS) or chirp pulses. The test-bed gives us the flexibility to transfer estimation algorithms from theory directly to a prototype where we are free to choose between mixed MATLAB, field programmable gate array (FPGA) and software implementations. We give an insight view into the overall architecture, its properties, possibilities and limitations. Furthermore, we show link budget calculations and the expected performance with Cramér-Rao lower bounds (CRLB) for this system based on state-of-the-art OFDM block-type synchronization symbols which are also used in 3GPP-LTE.","PeriodicalId":399340,"journal":{"name":"2012 9th Workshop on Positioning, Navigation and Communication","volume":"24 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":"123478215","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.2012.6268753
N. Joram, J. Wagner, A. Strobel, F. Ellinger
This work describes a demonstration platform for frequency-modulated continuous wave (FMCW) based ranging systems operating in the 5.8 GHz ISM band. The goal is to gain insight into system behavior and determine critical system parts prior to integration on chip. The versatility and configurability of the presented system allows testing different synchronization and ranging principles. A synchronization scheme is proposed which is robust against imperfections of the system. Distance measurements using this scheme are carried out in an indoor and outdoor scenario.
{"title":"5.8 GHz demonstration system for evaluation of FMCW ranging","authors":"N. Joram, J. Wagner, A. Strobel, F. Ellinger","doi":"10.1109/WPNC.2012.6268753","DOIUrl":"https://doi.org/10.1109/WPNC.2012.6268753","url":null,"abstract":"This work describes a demonstration platform for frequency-modulated continuous wave (FMCW) based ranging systems operating in the 5.8 GHz ISM band. The goal is to gain insight into system behavior and determine critical system parts prior to integration on chip. The versatility and configurability of the presented system allows testing different synchronization and ranging principles. A synchronization scheme is proposed which is robust against imperfections of the system. Distance measurements using this scheme are carried out in an indoor and outdoor scenario.","PeriodicalId":399340,"journal":{"name":"2012 9th Workshop on Positioning, Navigation and Communication","volume":"4 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":"129547665","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.2012.6268765
Behailu Y. Shikur, M. Farmani, T. Weber
Recently several authors have proposed different indoor positioning and tracking algorithms. Most of the proposed indoor positioning and tracking algorithms try to identify and mitigate the errors caused by the non-line-of-sight propagation paths. In this paper, we propose a three-dimensional tracking technique to track a mobile terminal which moves in a non-line-of-sight multipath environment by applying the extended Kalman filter. The proposed tracking technique requires at least one base station and exploits the non-line-of-sight propagations to estimate the three-dimensional trajectory of a mobile terminal by considering the successive angle-of-departure, angle-of-arrival, and time-of-arrival measurements under the assumption of stationary scatterers. Additionally, the position of the scatterers is determined implicitly. It is shown, by simulations, that the proposed three-dimensional tracking technique can estimate the trajectory of a mobile terminal in non-line-of-sight multipath environments very well. In general, the proposed tracking technique improves the position estimates of the mobile terminal compared with tracking made by successive independent position estimates. The improvement in position estimates comes from the exploitation of the correlation between successive measurements which arise from the physical mobility constraints of the mobile terminal.
{"title":"TOA/AOA/AOD-based 3-D mobile terminal tracking in NLOS multipath environments","authors":"Behailu Y. Shikur, M. Farmani, T. Weber","doi":"10.1109/WPNC.2012.6268765","DOIUrl":"https://doi.org/10.1109/WPNC.2012.6268765","url":null,"abstract":"Recently several authors have proposed different indoor positioning and tracking algorithms. Most of the proposed indoor positioning and tracking algorithms try to identify and mitigate the errors caused by the non-line-of-sight propagation paths. In this paper, we propose a three-dimensional tracking technique to track a mobile terminal which moves in a non-line-of-sight multipath environment by applying the extended Kalman filter. The proposed tracking technique requires at least one base station and exploits the non-line-of-sight propagations to estimate the three-dimensional trajectory of a mobile terminal by considering the successive angle-of-departure, angle-of-arrival, and time-of-arrival measurements under the assumption of stationary scatterers. Additionally, the position of the scatterers is determined implicitly. It is shown, by simulations, that the proposed three-dimensional tracking technique can estimate the trajectory of a mobile terminal in non-line-of-sight multipath environments very well. In general, the proposed tracking technique improves the position estimates of the mobile terminal compared with tracking made by successive independent position estimates. The improvement in position estimates comes from the exploitation of the correlation between successive measurements which arise from the physical mobility constraints of the mobile terminal.","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":"129955461","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.2012.6268760
J. Engelbrecht, G. Forster, O. Michler, R. Collmann
In recent years, indoor positioning has become more and more important for industrial and commercial usage. Advanced approaches using leaky coaxial cables (LCX) not only for radio coverage have been developed. This paper deals with the application of LCXs for indoor localization in a public transport test scenario, run by the Fraunhofer Institute for Transportation and Infrastructure Systems IVI Dresden. In this scenario different systems were tested in a real-vehicle environment and compared to each other. In addition those results are contrasted with a synthetic indoor-test carried out in a corridor of the University of Applied Sciences Dresden, in the following referred to as “academic” scenario. Furthermore, the positioning accuracy, which could be achieved by using standard LCXs and two reference systems are demonstrated.
{"title":"Positioning estimation in public transport systems by leaky coaxial cables","authors":"J. Engelbrecht, G. Forster, O. Michler, R. Collmann","doi":"10.1109/WPNC.2012.6268760","DOIUrl":"https://doi.org/10.1109/WPNC.2012.6268760","url":null,"abstract":"In recent years, indoor positioning has become more and more important for industrial and commercial usage. Advanced approaches using leaky coaxial cables (LCX) not only for radio coverage have been developed. This paper deals with the application of LCXs for indoor localization in a public transport test scenario, run by the Fraunhofer Institute for Transportation and Infrastructure Systems IVI Dresden. In this scenario different systems were tested in a real-vehicle environment and compared to each other. In addition those results are contrasted with a synthetic indoor-test carried out in a corridor of the University of Applied Sciences Dresden, in the following referred to as “academic” scenario. Furthermore, the positioning accuracy, which could be achieved by using standard LCXs and two reference systems are demonstrated.","PeriodicalId":399340,"journal":{"name":"2012 9th Workshop on Positioning, Navigation and Communication","volume":"26 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":"128753155","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.2012.6268752
Heiko Will, Thomas Hillebrandt, M. Kyas
We introduce a simulation engine to visually evaluate and compare distance based lateration algorithms and deployments called the FU Berlin Parallel Lateration-Algorithm Simulation and Visualization Engine (LS2). Our engine simulates a scenario which consists of given anchor positions and evaluates all positions of a playing field in parallel, instead of only randomly selected positions. At the end of a simulation run, the user is able to judge the strengths and weaknesses of the algorithm in a picture that displays the spatial position error distribution, a representation of positions in a plane with their errors. Understanding spacial distribution of error is especially valuable, because we observed that it depends on the placement of anchor nodes. This enables the developer to optimize his algorithm or aid him in selecting an algorithm for his application. The simulator's design separates the simulation engine, the lateration algorithms, and the error models. The simulator can be easily extended with additional lateration algorithms and error models. The engine is written in GNU C99 and uses the SSE or AVX vector extensions of modern microprocessors. Thus, it is able to scale fully to all cores. Beside extendability, the main focus is set on execution speed.
{"title":"The FU Berlin parallel lateration-algorithm simulation and visualization engine","authors":"Heiko Will, Thomas Hillebrandt, M. Kyas","doi":"10.1109/WPNC.2012.6268752","DOIUrl":"https://doi.org/10.1109/WPNC.2012.6268752","url":null,"abstract":"We introduce a simulation engine to visually evaluate and compare distance based lateration algorithms and deployments called the FU Berlin Parallel Lateration-Algorithm Simulation and Visualization Engine (LS2). Our engine simulates a scenario which consists of given anchor positions and evaluates all positions of a playing field in parallel, instead of only randomly selected positions. At the end of a simulation run, the user is able to judge the strengths and weaknesses of the algorithm in a picture that displays the spatial position error distribution, a representation of positions in a plane with their errors. Understanding spacial distribution of error is especially valuable, because we observed that it depends on the placement of anchor nodes. This enables the developer to optimize his algorithm or aid him in selecting an algorithm for his application. The simulator's design separates the simulation engine, the lateration algorithms, and the error models. The simulator can be easily extended with additional lateration algorithms and error models. The engine is written in GNU C99 and uses the SSE or AVX vector extensions of modern microprocessors. Thus, it is able to scale fully to all cores. Beside extendability, the main focus is set on execution speed.","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":"130024560","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.2012.6268750
Benjamin Wagner, Neal Patwari, D. Timmermann
Localization of users is an important part of location aware systems and smart environments. It forms a major data source for superimposed intention recognition systems. In RF device-free localization (DFL), the person being tracked does not need to wear a RF transmitter or receiver in order to be located. Instead, they are tracked using the changes in signal strength measured on static links in a wireless network. This work presents a new algorithm for RF DFL using passive RFID networks. We formulate and show how a tomographic imaging algorithm provides both low computational complexity and highly accurate position estimates. Using measurements conducted in an indoor environment with various human positions, we find the algorithm can locate the human with as low as 30 cm mean location error.
{"title":"Passive RFID tomographic imaging for device-free user localization","authors":"Benjamin Wagner, Neal Patwari, D. Timmermann","doi":"10.1109/WPNC.2012.6268750","DOIUrl":"https://doi.org/10.1109/WPNC.2012.6268750","url":null,"abstract":"Localization of users is an important part of location aware systems and smart environments. It forms a major data source for superimposed intention recognition systems. In RF device-free localization (DFL), the person being tracked does not need to wear a RF transmitter or receiver in order to be located. Instead, they are tracked using the changes in signal strength measured on static links in a wireless network. This work presents a new algorithm for RF DFL using passive RFID networks. We formulate and show how a tomographic imaging algorithm provides both low computational complexity and highly accurate position estimates. Using measurements conducted in an indoor environment with various human positions, we find the algorithm can locate the human with as low as 30 cm mean location error.","PeriodicalId":399340,"journal":{"name":"2012 9th Workshop on Positioning, Navigation and Communication","volume":"58 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":"124025235","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.2012.6268759
Jihoon Hong, Shun Kawakami, T. Ohtsuki
A new method for passive localization using an array sensor system based on spatial smoothing processing (SSP) with support vector machine (SVM) is proposed. The array sensor uses only one array antenna as the receiver to observe the signal subspace spanned by eigenvector through array signal processing. The signal subspace represents the radio wave propagation of interest. Based on the eigenvector, it can detect and classify simple human activities: entering a room, standing, and moving. The advantages of the system are as follows: it guarantees privacy of users; it eliminates installation difficulties; it also offers a wide detection range. Although the conventional method can detect simple human activities, it cannot determine the position of the human being in detail. The proposed method uses multiple transmitters emitting different frequency signals to extend the dimension of the signal subspace. In addition, we separate coherent signals by using the SSP to obtain more features of radio wave propagation than the number of transmitters. The features are used as inputs to SVM to localize human position. The experimental results show that the proposed method improves the localization accuracy and the root mean square error (RMSE) compared to the previous method.
{"title":"Passive localization using array sensor with support vector machine","authors":"Jihoon Hong, Shun Kawakami, T. Ohtsuki","doi":"10.1109/WPNC.2012.6268759","DOIUrl":"https://doi.org/10.1109/WPNC.2012.6268759","url":null,"abstract":"A new method for passive localization using an array sensor system based on spatial smoothing processing (SSP) with support vector machine (SVM) is proposed. The array sensor uses only one array antenna as the receiver to observe the signal subspace spanned by eigenvector through array signal processing. The signal subspace represents the radio wave propagation of interest. Based on the eigenvector, it can detect and classify simple human activities: entering a room, standing, and moving. The advantages of the system are as follows: it guarantees privacy of users; it eliminates installation difficulties; it also offers a wide detection range. Although the conventional method can detect simple human activities, it cannot determine the position of the human being in detail. The proposed method uses multiple transmitters emitting different frequency signals to extend the dimension of the signal subspace. In addition, we separate coherent signals by using the SSP to obtain more features of radio wave propagation than the number of transmitters. The features are used as inputs to SVM to localize human position. The experimental results show that the proposed method improves the localization accuracy and the root mean square error (RMSE) compared to the previous method.","PeriodicalId":399340,"journal":{"name":"2012 9th Workshop on Positioning, Navigation and Communication","volume":"61 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":"116023626","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.2012.6268754
Zachary Biskaduros, R. Buehrer
The Global Positioning System (GPS) is the dominant position location system in operation. It uses 31 operational satellites producing eight line of sight satellites available to users at all times. However if a user's visibility is blocked from large buildings, mountains, or the user is located indoors, the number of visible satellites decreases degrading accuracy and availability. Additionally, the signal quality is also degraded in such environments. This paper therefore explores the effect of collaborating users with known (or estimated) distances between the users. Specifically, we examine the usefulness of multiple GPS receivers using measured inter-receiver distances along with standard pseudoranges to cooperatively determine all receiver locations.
{"title":"Collaborative localization enhancement to the Global Positioning System","authors":"Zachary Biskaduros, R. Buehrer","doi":"10.1109/WPNC.2012.6268754","DOIUrl":"https://doi.org/10.1109/WPNC.2012.6268754","url":null,"abstract":"The Global Positioning System (GPS) is the dominant position location system in operation. It uses 31 operational satellites producing eight line of sight satellites available to users at all times. However if a user's visibility is blocked from large buildings, mountains, or the user is located indoors, the number of visible satellites decreases degrading accuracy and availability. Additionally, the signal quality is also degraded in such environments. This paper therefore explores the effect of collaborating users with known (or estimated) distances between the users. Specifically, we examine the usefulness of multiple GPS receivers using measured inter-receiver distances along with standard pseudoranges to cooperatively determine all receiver locations.","PeriodicalId":399340,"journal":{"name":"2012 9th Workshop on Positioning, Navigation and Communication","volume":"12 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":"125695821","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.2012.6268747
S. Hadzic, J. Bastos, Jonathan Rodriguez
Selective choice of cooperating nodes leads to decrease of error propagation while reducing power consumption at the same time. Our approach to the node selection problem consists in modeling the localization process as a cooperative game. From the localization accuracy point of view, observations may be highly correlated in space domain. In that sense, we propose a node selection scheme to avoid collection of redundant information and thereby reduce the number of necessary measurements.
{"title":"Reference node selection for cooperative positioning using coalition formation games","authors":"S. Hadzic, J. Bastos, Jonathan Rodriguez","doi":"10.1109/WPNC.2012.6268747","DOIUrl":"https://doi.org/10.1109/WPNC.2012.6268747","url":null,"abstract":"Selective choice of cooperating nodes leads to decrease of error propagation while reducing power consumption at the same time. Our approach to the node selection problem consists in modeling the localization process as a cooperative game. From the localization accuracy point of view, observations may be highly correlated in space domain. In that sense, we propose a node selection scheme to avoid collection of redundant information and thereby reduce the number of necessary measurements.","PeriodicalId":399340,"journal":{"name":"2012 9th Workshop on Positioning, Navigation and Communication","volume":"110 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":"128992332","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 : 1900-01-01DOI: 10.1109/WPNC.2012.6268767
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.2012.6268767","DOIUrl":"https://doi.org/10.1109/WPNC.2012.6268767","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":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128141692","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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