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In this paper, signals for acoustic beacons with M sequence are evaluated with various parameters for self-localization of mobile robot. The effect of (i) baud rate, (ii) carrier frequency and (iii) order of M sequence on DOA estimation error and localization error are evaluated by computer simulation. As a result, localization is possible with same class or more precision compared to the result from...
It has been shown that local magnetic field (MF) anomalies can be used in accurate global self-localisation with fingerprinting. However, MF anomalies can only affect limited areas, and the low discernibility of received local MF signals may result in many positions having the same MF-Location information in areas far away from disturbances. This is mainly due to the sensitivity limitations of sensors...
Commonly used Global Navigation Satellite Systems (GNSS) are inappropriate as Location Based Services (LBS) in indoor environment. Therefore research teams are developing different systems, which can be used as a suitable alternative. One of options is to use Inertial Navigation System (INS) which consists of inertial sensors and mathematic procedures. This concept has been known for a long time,...
Location estimation based on received signal strength (RSS) is an increasingly popular method of low-cost positioning. However, the low accuracy afforded by RSS centric systems dramatically limits suitable applications. Herein we discuss a positioning system utilizing cooperative strategies and integration of RSS observables with inertial navigation system (INS) sensors such as those commonly found...
In this paper the fusion of data from a network of security cameras and RSS fingerprint observations are combined to facilitate the simultaneous tracking of multiple persons inside indoor environments. An objective of the developed algorithm is to utilize existing building infrastructure namely the networks of security cameras and WiFi access points. Additionally minimal initial and maintenance calibration...
In this paper we describe a system for indoor navigation in complex public or commercial facilities such as airports, train stations, clinics, museums, fairgrounds or conference centers. The concept of this approach is strongly focused on application in geographically distributed facilities containing multiple indoor areas, situated at various levels that are connected by stairs, escalator or elevators...
A preliminary framework for inferring continuous-time target trajectory (namely “track”) is given for a class of target tracking problems in which the target is subject to a rather smooth evolving process in time series, such as tracking passenger aircrafts or ships that have scheduled routes. As the core idea, the distant estimates given over time by a recursive estimator are ‘fitted’ by using a...
As sensor-rich mobile devices became a commodity, more opportunities appeared for the creation of location-aware services. While GPS is a well established solution for outdoor localization, there is still no standard solution for localization indoors. This paper presents a novel accurate indoor positioning mechanism that is meant to run in common smartphones to be a readily and widely available solution...
The research presented in this paper is focused on In-home positioning systems. These indoor environments are characterized by a reduced number of AP, narrow spaces and very important radio signal attenuation. Existing indoor techniques seems to be not totally suitable for these scenarios; this paper proposes an add-on for helping these techniques by the use of wearable ultrasound sensors (distance...
There are many methods for indoor positioning. These methods are divided into the relative localization and absolute localization. In the relative localization, one widely used method is Pedestrian Dead Reckoning (PDR). Relative localization estimates the moving distance, orientation, and height of the pedestrian. However, relative localization has a problem caused by an accumulated error: the longer...
A Map aided Pedestrian Dead Reckoning (PDR) algorithm is proposed to mitigate the drift errors and step detection limitations of pedestrian dead reckoning algorithm with handheld sensors in indoor and outdoor spaces. Specific to this context is the changing lever-arm between the handheld device and the pedestrian center of mass that introduces a misalignment between the inertial sensors and the walking...
This paper discusses ‘InLoc’, an accurate and a robust positioning and tracking system using commercial mobile devices, with an integrated feature of route finding for the user from a source to the desired destination. The system exploits easily available building floor maps in raster form, with an easy conversion to vector model, eliminating the need of specially designed vector maps, thereby making...
Indoor localization is a key topic for the Ambient Intelligence (AmI) research community. In this scenarios, recent advancements in wearable technologies, particularly smartwatches with built-in sensors, and personal devices, such as smartphones, are being seen as the breakthrough for making concrete the envisioned Smart Environment (SE) paradigm. In particular, scenarios devoted to indoor localization...
Passive acoustic localization is an important technique in a wide variety of monitoring applications, ranging from healthcare over biological survey to structural health monitoring of buildings. If the subject of interest emits a recognizable sound and is picked up by a distributed array of microphones it is possible to measure the difference in arrival times and reconstruct the source positions....
With the great international popularity and various sensors embedded, smartphone becomes an excellent mobile and indoor navigator. Pedestrian Dead Reckoning (PDR) is one of the most common technologies for pedestrian and indoor navigation which is based upon pedometer and orientation sensor. But various errors tend to accumulated step by step in its present form. Therefore, this study proposes a novel...
We investigate properties and the accuracy of grid-based Bayesian filters for indoor localization. We use only the compass and a (hardware or software) step detector which are available in commodity smartphones. In the case when a hardware step detector is not present, we propose a reliable step detection algorithm using the accelerometer. Our main goal is to evaluate how the accuracy of a grid-based...
While indoor localization techniques based on Wi-Fi RSS measurements have been extensively studied, their application to eavesdropping Wi-Fi probe requests sent from mobile devices in large indoor environments, such as shopping malls, is scarce or absent in the literature. The idea behind this work is to observe Wi-Fi enabled smartphones, especially when they are not associated to a network. They...
Most modern outdoor tracking systems utilize GPS technology. However, typical pedestrian environments tend to distort and block satellite signals, thereby making GPS communication systems unreliable. This is particularly true for indoor environments. An alternative pedestrian dead reckoning system based solely on inertial sensors is presented. Noisy acceleration signals result in a heavy velocity...
Optimal placement of sensors is a fundamental task to achieve high performance of different applications, especially in multi-sensor scenarios and complex environments. This paper proposes an alternative for automatically estimating the optimal placement of multiple microphones (individual or conforming arrays), in arbitrary complex indoor environments, for acoustic localization tasks. The proposal...
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