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This work presents a study to determine the improvement of the simultaneous position estimations of several Mobile Robots (MRs) adding the relative distances between them, regarding independent position estimations for each MR. To evaluate the performance of the proposal, it is supposed that the localization scenario is composed of an Ultrasonic Local Positioning System (ULPS) and two MRs with odometry...
Nowadays, finding the Unmanned Aerial Vehicle (UAV) position in the absence of GPS is attractive and challenging problem in the research community. In this paper, we present a novel algorithm for mini UAV indoor localization based on distance measurements between the UAV and the existing infrastructure consisting of WiFi Access Points. Our algorithm uses two well-known techniques from the literature:...
In underwater wireless sensor networks (USWNs), localizing unknown nodes is essential for most applications while is more complex than that of terrestrial WSNs. In this paper, we propose a range-based localization scheme using deep neural network (DNN). Numerical results suggest that the proposed DNN localization algorithm outperforms traditional schemes using least squares support vector machines...
This paper describes a problem in which a network consisting of a sensor-equipped UAV and multiple beacons, operating in a large geographical space, uses distance measurements to estimate the position of a target and pursue it. The positions of the beacon are also not known to the UAV and needs to be estimated by the UAV, again using distance measurements. Distance measurements are assumed to have...
Internet of Things (IoT) is rather prevalent in many manufacturing and smart city applications, while localization is a premise for many other processes, varying from ordering objects in manufacturing lines to locating books on bookshelves. Radio Frequency Identification (RFID) based localization is of great interest in many IoT applications. Synthetic aperture RFID, due to its anti-noise capability...
This paper explores the limits of acoustic ranging on smart phone in the scenario of device-free hand tracking. Tracking the hand is challenging since it requires continuously locating the moving hand in the air with fine resolution. Existing work on hand tracking relies on special hardware or requires users hold the mobile device. This paper presents EchoTrack, which continuously locates the hand...
The performance of a range-based indoor positioning system is severely degraded by non-line-of-sight (NLOS) propagation due to the offsets in range measurements (i.e., NLOS errors). It is difficult to predict or mitigate the NLOS errors since they vary from one position to another due to changes in the environment. In this paper, we propose a novel NLOS error mitigation scheme based on the integration...
The increasing pervasiveness of object tracking technologies leads to huge volumes of spatio-temporal data collected in the form of trajectory streams. The discovery of useful group patterns from moving objects' movement behaviors in trajectory streams is critical for real time applications ranging from transportation management to military surveillance. In this work we propose a novel type of group...
In this paper we propose a new approach to recovering the relative position and orientation of a pair of platforms moving on the plane by fusing the kinds of estimates provided by visual odometry systems with distance measurements obtained from ranging radio systems. By combining these two complementary sources of information we are able to provide estimates that could not be obtained using either...
We present a partial observable, non-linear solution for AUV aided navigation, referred as the Reverse Bearing Only Target Motion Analysis (Reverse BO-TMA). Reverse BO-TMA utilizes information about the course and speed of a passing vessel to provide a passive method for self localization of an Autonomous Underwater Vehicle (AUV). In Reverse BO-TMA, the AUV relies on radiated noise from the vessel...
In large-scale centralized underwater wireless sensor networks (UWSNs), there are problems of large number of nodes, limited communication distances and incapable to cover full networks. Usually we use surface gateway node to travel in a fixed trajectory and simultaneously collect underwater node information to localize node positions. The traditional area location scheme (ALS) has the problem of...
We consider a range estimation algorithm based on the time-of-arrival differences between multipath replicas of a signal transmitted by an anchor node of known location to a silent node that needs to localize itself. We consider the geometry of the problem in the simplified case of a constant sound speed profile (SSP), and argue that the more realistic case of a non-constant SSP can be still tackled...
This paper describes a method for estimating the relative pose of a pair of unmanned aerial vehicles (UAV) using noisy measurements from ranging radios and each aircraft's on board navigation system. In this method, there is no prior information needed about the relative pose of each UAV. During the estimation of the relative pose of two traveling UAVs, only a single range measurement between UAVs...
The absolute position of an underwater target is difficult to pinpoint because the global positioning system (GPS) cannot penetrate water bodies. The long baseline (LBL) positioning system can extend GPS using high-precision calibrated underwater beacons as references. While traditional LBL systems give the target position without considering calibration error of deployed beacons. To solve this problem,...
This paper describes the design process of a bow aiming system, called ArcAid, which is an interactive archery assistant. The main goal of ArcAid is to introduce a way for beginner Robin Hoods to learn the art of archery to its fullest. In order to achieve this goal, our smartphone-based design focuses on a fun and interactive learning process that gives constant feedback to the user on how to hit...
In this paper we consider a time-invariant system of differential equations with an equilibrium. We study the problem of a class of Lyapunov functions allowing to describe an estimation of the domain of attraction (DOA). This work is a development of the results obtained by V. I. Zubov. The solution of the problem is based on the application of the second method of Lyapunov. An example illustrates...
Commonly used unmanned aerial vehicle (UAV) platforms rely on the use of global navigation satellite system (GNSS) receivers for navigation. To enable the autonomous navigation of cooperative UAVs in GNSS-denied environments, the use of an ultra-wideband (UWB) positioning system is proposed. This paper discusses the design and evaluation of a practical and cooperative UWB positioning system using...
A great deal of research efforts has been invested in temporal aspects of big data management during last years, with alternate fortune. This line of research aims at capturing, formally modeling and successfully exploiting all the time-dependent characteristics of the fundamental big data model ranging from state model to query model. Temporal big data management thus poses novel research challenges...
Estimating the position of a mobile node by linear sensor fusion of ranging, speed, and orientation measurements has the potentiality to achieve high localization accuracy. Nevertheless, the design of these sensor fusion algorithms is uncertain if their fundamental limitations are unknown. Despite the substantial research focus on these sensor fusion methods, the characterization of the Cramér Rao...
Consider a stationary agent A at an unknown location and a mobile agent B that must move to the vicinity of and then circumnavigate A at a prescribed distance from A. In doing so, B can only measure its distance from A, and knows its own position in some reference frame. This paper considers this problem, which has applications to surveillance or maintaining an orbit. In many of these applications...
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