Pub Date : 2024-09-10DOI: 10.23919/comex.2024XBL0132
Lei Jiang;Nopphon Keerativoranan;Tad Matsumoto;Jun-ichi Takada
This paper presents a trajectory tracking algorithm for high-mobility targets using an extended Kalman smoothing (EKS)-based factor graph (FG). Traditional tracking methods often face challenges in maintaining accuracy and computational efficiency when dealing with fast-moving objects. Leveraging the probabilistic framework of factor graphs and robust estimation of EKS, the algorithm enhances tracking precision for fast-moving objects. Extensive simulations across various motion models demonstrate improved accuracy and robustness. The results indicate that this method effectively addresses the limitations of conventional tracking algorithms, providing a promising solution for applications in aviation, autonomous vehicles, and other domains requiring high-mobility tracking.
{"title":"Factor Graph-Based Technique for Trajectory Tracking of Target with High Mobility","authors":"Lei Jiang;Nopphon Keerativoranan;Tad Matsumoto;Jun-ichi Takada","doi":"10.23919/comex.2024XBL0132","DOIUrl":"https://doi.org/10.23919/comex.2024XBL0132","url":null,"abstract":"This paper presents a trajectory tracking algorithm for high-mobility targets using an extended Kalman smoothing (EKS)-based factor graph (FG). Traditional tracking methods often face challenges in maintaining accuracy and computational efficiency when dealing with fast-moving objects. Leveraging the probabilistic framework of factor graphs and robust estimation of EKS, the algorithm enhances tracking precision for fast-moving objects. Extensive simulations across various motion models demonstrate improved accuracy and robustness. The results indicate that this method effectively addresses the limitations of conventional tracking algorithms, providing a promising solution for applications in aviation, autonomous vehicles, and other domains requiring high-mobility tracking.","PeriodicalId":54101,"journal":{"name":"IEICE Communications Express","volume":"13 11","pages":"431-434"},"PeriodicalIF":0.3,"publicationDate":"2024-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10675312","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600195","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-09-10DOI: 10.23919/comex.2024XBL0143
Makoto Nomura;Akihiro Nakao
Human motion capture has various use cases such as digital twinning. Most wearable sensing devices to capture data employ short-range wireless protocols such as serial communications over Bluetooth Low Energy (BLE) to satisfy the requirement of low power consumption. On the other hand, the short-range wireless communications limit the applications of human motion capture since digital twinning is often considered more useful in a wide area, e.g., capturing motions of sports players in a large stadium, etc. However, the problem is that replacing BLE with 5G for the existing sensors is not favorable for developers due to the additional cost of re-designing the system, not to mention that it is infeasible for end-users as the sensor protocol is proprietary. In order to overcome this challenge, we propose “black-magic 5G Sidelink” to extend the range of the existing human motion capture sensing system with serial communications via BLE, “transparently” tunneling the black-box sensor protocols over 5G. Our contributions are threefold. First, we propose a viable architecture of transparent extension of any existing BLE serial sensor systems to a wide area. Second, we actually implement the proposed system. Third, our evaluation reveals that the captured data from many people can be efficiently acquired with a low latency of about 40 msec over a wide area, and thus shows the feasibility of transparently extending short-range black-box wearable sensors to a wide area via 5G Sidelink by our proposal.
人体动作捕捉有多种用途,如数字孪生。大多数用于捕捉数据的可穿戴传感设备都采用短距离无线协议,如通过蓝牙低功耗(BLE)进行串行通信,以满足低功耗的要求。另一方面,短距离无线通信限制了人体动作捕捉的应用,因为数字孪生通常被认为在大范围内更有用,例如捕捉大型体育场内运动员的动作等。然而,问题在于,由于重新设计系统需要额外成本,因此用 5G 取代现有传感器的 BLE 对开发人员来说并不有利,更不用说由于传感器协议是专有的,因此对终端用户来说也是不可行的。为了克服这一挑战,我们提出了 "黑魔法 5G Sidelink",通过 BLE 扩展现有人体动作捕捉传感系统的串行通信范围,在 5G 上 "透明 "地传输黑盒传感器协议。我们的贡献有三个方面。首先,我们提出了将现有 BLE 串行传感器系统透明扩展到大范围的可行架构。其次,我们实际实现了所提出的系统。第三,我们的评估结果表明,在大范围内,可以以约 40 毫秒的低延迟高效获取许多人的捕获数据,从而表明了通过我们的建议将短距离黑盒子可穿戴传感器通过 5G Sidelink 透明地扩展到大范围的可行性。
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Pub Date : 2024-09-10DOI: 10.23919/comex.2024COL0021
Zin Mar Phyo;Takafumi Fujimoto;Chai-Eu Guan
This paper introduces a wideband MIMO (multiple input multiple output) antenna operating Sub 6 GHz 5G frequency band with circular polarization (CP). It comprises two identical printed monopole antennas (PMAs) with disconnected ground planes, spaced at $0:051 lambda_{0}$