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In this paper, a technique for accurate estimation of the moment of magnetic dipole is proposed. The achievable accuracy is investigated, as a function of measurement noise affecting estimation of magnetic field cartesian components. The proposed technique is validated both via simulations and experimentally.
In this paper, simultaneous estimation of 3D position and attitude of a single coil using a set of anchors, with known position and magnetic dipole, is analyzed. Effect of noise and geometric properties of the anchors' constellation is considered. Several parameters are analyzed and discussed, including placement of anchors in a single or in multiple orthogonal planes. It is shown that adding space...
In this paper, a positioning technique based on Time Difference of Arrival (TDoA) measurements is analyzed. The proposed approach is designed to consent range and position estimation, using ultrasound transmissions of a stream of chirp pulses, received by a set of wireless nodes. A potential source of inaccuracy introduced by lack of synchronization between transmitting node and receiving nodes is...
Vehicle recognition is one of the main challenges in Intelligent Transportation Systems (ITS). The need to recognize the vehicle type can help insurance companies, public safety organizations, infomobility, and policy-makers in general. In this paper, we propose a vehicle recognition system based on speed estimation, vehicle length estimation and classification of the vehicle type. We developed a...
A method for crosstalk detection and removal in multichannel time-of-arrival measurement systems is proposed. The method, based on low-complexity processing of cross-correlation results, is evaluated by numerical simulations and experimental characterization. Results show the capability to detect and remove crosstalk by processing the signals acquired by two mutually-interfering electrical channels...
This paper investigates the applicability of a developed magnetic ranging and positioning system (MPS) as a support for a dead reckoning inertial navigation system for pedestrian applications. The integrated system combines the complementary properties of the separate systems, operating over long periods of time and in cluttered indoor areas with partial non-line-of-sight conditions. The obtained...
This paper proposes an analysis of the quasi-stationary magnetic field generated by coils and its applicability to 3D positioning applications. Starting from a theoretical background, an approximation of the induced voltage in a sensor coil is developed and analyzed. In particular, the introduced approximation error is shown to be lower than 5 mm over a 20 m range. Finally, the developed model is...
In this paper, a 2.5D positioning system is analyzed, based on Received Signal Strength (RSS) measurements, collected from narrowband RF transmissions. The mobile node of the considered system uses multiple closely spaced receivers, collecting RSS measurements and combining them to mitigate multipath effects. Using simulations and optical approximation, the effect of antenna directivity on the positioning...
Motivated by the emergence of the Internet of Things (IoT), and by the importance that location information has on many complex systems scenarios, we propose a hybrid scheme for user positioning in an urban scenario. The system uses both a Global Navigation Satellite System (GNSS) and a Magnetic Positioning System (MPS). To maintain receiver complexity and cost at a minimum, the location scheme combines...
The influence of the environmental configuration on AC magnetic distance-measurement systems, which are based on inductive coupling of tuned resonators, is experimentally analyzed. The main aspects that affect accuracy in such systems are the conductivity of the terrain and the presence of metallic materials near the resonators. It is shown that such aspects are frequency-dependent, and a tradeoff...
This paper describes the design and realization of a Magnetic Positioning System (MPS) integrated with a Global Positioning System (GPS) receiver. The GPS receiver is composed of a hardware section and a software section that can integrate with the MPS. Both system-level architecture and realization details are described along with experimental results. The realized measurement system exhibits a maximum...
This paper addresses the problem of adaptive noise cancellation in a multi-channel system. The proposed canceller is a recursive system, based on the Least Mean Squares filter (LMS). This method is analyzed by simulations and experimental results are given. Specifically, it is shown that this technique can improve the accuracy of ultrasound ranging and positioning systems using multichannel receivers.
Synchronization is an important feature in wireless sensor networks, often needed to enable correct operation. In this paper, the usage of magnetic field coupling is explored, to provide Time of Flight information, useful to develop a timestamp based clock distribution system. In particular, the proposed approach can be easily implemented using very low-cost hardware, despite the good performance...
In this paper, an ultrasonic positioning system is presented and characterized, based on the usage of a portable grid of beacons and of a few fixed anchors. Since the beacon grid can be moved to guarantee line of sight transmissions, the proposed strategy is potentially suitable for accurate positioning of a mobile object in an environment with a complex geometry.
This paper describes the design and realization of a Magnetic Indoor Positioning System. The system is entirely realized using off-the-shelf components and is based on inductive coupling between resonating coils. Both system-level architecture and realization details are described along with experimental results. The realized system exhibits a maximum positioning error of less than 10 cm in an indoor...
Indoor positioning using RF signals is usually a difficult task, due to multipath phenomena, that, especially for narrowband transmissions, can deeply affect signal propagation. In this paper, a simple technique for improving the accuracy of a received signal strength based ranging system is proposed. It is shown that, using narrowband low power transmissions in the 2.4 GHz channel and a multiple...
This paper presents an impulse-radio UWB experimental platform for ranging and positioning in GNSS-challenged environments. The platform is based on the two-way time-of-arrival principle of operation, which reduces architecture complexity and relaxes the synchronization requirements with respect to time-of-arrival or time-difference-of-arrival solutions. The modular architecture of the platform is...
In this paper, a ranging technique based on inductive coupling between resonating coils is presented. The theoretical background is discussed, and a practical implementation is illustrated and experimentally validated. It is shown that the proposed technique, implemented using off the shelf components, features both a good range and a fair resilience to multipath, being suitable for indoor positioning...
The 2012 IEEE Workshop on Environmental, Energy, and Structural Monitoring Systems is the third meeting of a series technically sponsored and organized by the IEEE Italy Section Systems Council Chapter, with the technical co-sponsorship of the IEEE Italy Section Instrumentation and Measurement Society Chapter, and the sponsorship of the IEEE Italy Section. This edition has been organized with the...
In this paper, a system for measuring moisture content of wood-chip samples is presented, based on propagation time measurements of electromagnetic pulses in a two wire probe. Both simulation and experimental results are reported, validated by concurrently performed TGA measurements. It is shown that the proposed approach may be advantageous, since it features a good sensitivity and a very high measurement...
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