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This paper presents a tightly-coupled INS/GNSS integration for personal navigation systems using foot-mounted sensors. Our precise relative positioning INS based on high accurate Zero-Velocity-Updates (ZUPTs) is fused with GNSS pseudo-range and doppler measurements for absolute position and heading estimation. Unique is the decision depending on the classified motion state if doppler measurements...
Car makers are toward for the new generation of cars that tend to be more autonomous as possible without the driver intervention being considered such as part of the intelligent transportation systems. In fact, autonomous cars tend to have an increasing ability to autonomously drive themselves, potentially reducing accidents and traffic congestion considering also the improvement of comfort, safety,...
A cost-effective micro sun sensor is presented for extracting the sun vector from image sensors based on a phenomenon called the black sun. The black sun, appearing as the result of electron overspill at an oversaturated CMOS image pixel when capturing a bright spot such as the sun, allows extracting the sun centroid accurately and robustly even when the sun image appears irregular and noisy due to...
Research in Machine Learning has increased dramatically over the past couple of decades, with applications greatly benefitting industry. These applications vary widely in the fields of space exploration technologies, transportation, robotics, agriculture, animal husbandry, medicine and finance. However, the agricultural and animal husbandry related applications are relatively few when compared to...
This paper presents a method of improving the attitude determination accuracy for nanosatellites with the aid of the camera sensor. In typical mission, the star tracker is usually used as an optical sensor for the precise attitude pointing for the nanosatellite. However, mostly, the star tracker cannot be affordable for most of the missions because of its cost. Instead of using the star tracker, the...
In this paper, we develop new multiclass classification algorithms for detecting people and vehicles by fusing data from a multimodal, unattended ground sensor node. The specific types of sensors that we apply in this work are acoustic and seismic sensors. We investigate two alternative approaches to multiclass classification in this context — the first is based on applying Dempster-Shafer Theory...
Integrating formally separated control systems of a city by means of Information and Communication Technology (ICT) is well known under the term “Smart City”. The benefit is a more energy and cost efficient city. In the domain of road traffic an open traffic data platform shall be the base for smart road traffic infrastructure and services. The idea is to pool available data from road side sensors...
The fusioning of data from unreliable sensors has received much research attention. The main stream of research assesses the reliability of a sensor by comparing its readings to the ground truth in an online or offline manner. For instance, the Weighted Majority Algorithm is a representative example of a large class of similar legacy algorithms. Recently, some advances have been achieved in identifying...
For efficient analysis of large smart city data sets in (real) time a knowledge-based approach is suggested, constraining iteratively the search space while increasing accuracy by more complex computation. Results are shown for searching the distance to the nearest object, e.g., parking space.
It is essential for vehicles acquiring one's own current position to navigate autonomously. Especially, vehicles usually do not clearly obtain GPS information at indoor environments. In order to localize itself, vehicles have to use absolute and relative measurement systems from surrounding environmental and its driving information. Absolute position information such as environmental structures and...
The need to assess internet performance from the user's perspective grows, as does the interest in deployment of Large-Scale Measurement Platforms (LMAPs). The potential of these platforms as a real-time network diagnostic tool is limited by the volume, velocity and variety of the data they generated. Fusing this data from multiple sources and generating a single piece of coherent information about...
We depict the functions and extension of a novel information theory based sensors management (ISBM) system to information based sensor and mission management (IBSMM) such that intelligence collection is effective in an expected value sense while remaining independent of any particular platform, sensor or point solution. We describe the proposed implementation via implicit collaboration through common...
Sensors Network is an integration of multiples sensors in a system to collect information about different environment variables. Monitoring systems allow us to determine the current state, to know its behavior and sometimes to predict what it is going to happen. This work presents a monitoring system for semi-wild animals that get their actions using an IMU (inertial measure unit) and a sensor fusion...
Localization in global navigation satellite system denied environments using inertial sensors alone, or radio sensors alone or a combination of both are the currently active research topics. The current research works are primarily focused on static environments with earth fixed coordinate frames, having nonmoving maps. In this research work, we use micro electromechanical sensors based inertial sensors,...
This paper presents a method of force feedback for the haptic interface of underwater vehicles. The force feedback is implemented by estimating repulsive force based on the external sensor fusion. The repulsive force of the haptic system is composed of two parts: 1) the applied force to the underwater vehicle, and 2) a virtual force from the underwater obstacles. The applied force to the underwater...
Monitoring of the activities of daily living of the elderly at home is widely recognized as useful for detection of new or deteriorated health conditions. However, the accuracy of existing indoor location tracking systems remains unsatisfactory. The aim of this study was therefore to develop a localization system that can identify a patient's real-time location in a home environment with maximum estimation...
This paper provides hardware implementation considerations for previously developed algorithms designed to improve the classification of the modulation of weak radio signals utilizing multiple sensors. The case study presented focuses on a likelihood-based approach in a centralized data fusion framework. Data sets from multiple sensors are fused to obtain a more accurate modulation classification...
Position awareness in unknown and large indoor spaces represents a great advantage for people, everyday pedestrians have to search for specific places, products and services. In this work a positioning solution able to localize the user based on data measured with a mobile device is described and evaluated. The position estimate uses data from smartphone built-in sensors, WiFi (Wireless Fidelity)...
Motion analysis technologies have been widely used to monitor the potential for injury and enhance athlete performance. However, most of these technologies are expensive, can only be used in laboratory environments and examine only a few trials of each movement action. In this paper, we present a novel ambulatory motion analysis framework using wearable inertial sensors to accurately assess all of...
The advancements of mobile technology and its widespread availability have redefined many computing paradigms including Human-centric sensing. Human-centric sensing has already been successfully implemented as integrated network architecture component in many operational intelligent systems in various industry areas such as defense, healthcare, energy or disaster management. The process of integration...
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