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A proof-of-principle demonstrator based on ultra-sonic technology capable of identifying the beacon node within 450 μs is discussed. Time difference of arrival is measured by means of a microcontroller-based board Nucleo STM32 L152RE combined with a custom receiving circuit. The position is computed using a personal computer after the demonstrator acquisition. The demonstrator is validated by static...
Ultra-wideband (UWB) is a promising positioning system that has undergone massive research development in recent years. Most UWB systems assume prior knowledge on the positions of the UWB anchors. Without knowing the anchor positions, an accurate position estimate of a user is difficult. Hence, this paper presents a novel simultaneous localization and mapping (SLAM) approach for pedestrian localization...
The calibration (measurement of the position) of a network of wireless nodes used for indoor localization purposes is a tedious process and prone to errors if done manually. This paper presents a method for the autocalibration of that network, using the measurement of the received signal strength (RSS) of RF signals coming from the nodes, and captured while a person is taking a random walk in the...
This paper presents a novel method for searching a position of a sub-GHz electromagnetic wave source. Since the Poynting vector, which is the energy current passing through the surface, is radiated from the electromagnetic source, proceeding along its direction would lead to the source. The Poynting vector, however, is the cross product of an electric field vector and a magnetic field vector, and...
Desktop swarm robot system based on pheromone communication has been proposed and developed for application in industry and education. Our previous system has the some difficulties about the synchronous of host PC and the small robots' movement. In our system, the time-shared measurement needs the novel isolation in which the color sensors must detect the robot positions and the pheromone patterns...
The majority of UWB positioning systems rely on the first path component time of arrival measurements. In most systems, positioning algorithms assume that obtained results correspond to direct path component related to the distance between transmitter and receiver. Unfortunately, indoors, first path signal component is often delayed or even blocked by the walls or elements of interior design, what...
MARWIN is a mobile autonomous robot platform designed for performing maintenance and inspection task in a 4D environment at the European XFEL accelerator in Hamburg, Germany. MARWIN consists of a 4-wheel driven chassis and a manipulator arm providing 3 degrees of freedom. It can be operated in a pre-configured autonomous as well as a remotely controlled mode. The primary use case of MARWIN is measuring...
Nowadays, indoor localization systems gain more and more attention, as demand for the services employing data on the indoor position of the objects and people is growing. There are many techniques used for position calculation. The most popular rely on measurements of radio wave propagation times. Most of the systems' architectures consist of localized tags and fixed-positioned anchor nodes. Knowledge...
MEMS barometers are often addressed for vertical position detection in navigation systems because of the relatively high accuracy of measurement. This paper presents results of the assessment of two (contemporary) commercial barometric pressure sensors in indoor and outdoor (barometric) altitude measurements. A comparison of the acquired pressure data derived simultaneously from two pairs of sensors...
In 3GPP Rel-13, a narrowband system, named Narrowband Internet of Things (NB-IoT), has been introduced to provide low-cost, low-power, wide-area cellular connectivity for the Internet of Things. Further enhancements have been made to this system in subsequent 3GPP releases. In this paper, we describe Rel-14 enhancements that have been standardized for NB-IoT. They include positioning support, multicast...
Post-processing indoor navigation is interesting, for example to develop crowdsourcing analysis. The post-processing framework allows to provide a better estimation than in a real-time framework. The main contribution of this paper is to present a piecewise parametrization using Inertial Measurement Unit (IMU) and Received Signal Strength (RSS) measurements only which lead to an optimization problem...
Given a list of positioning measurements in location server, how to accurately estimate the user position is an open problem. We propose to apply particle swarm optimization (PSO) to estimate user position which can well explore the measurements including TDOA, TOA, DOA, and so on. Simulation results show that the PSO algorithms can significantly improve the positioning accuracy compared to current...
This paper presents a novel methodology to obtain a measure of the difficulty of a scenario to obtain accurate localization results when testing an indoor positioning method. The variables used to measure indoor localization methods' accuracy are strongly dependent on the radio map used to test them. This makes it hard to compare different methods' performance. The proposed RMID indicator can be used...
In the context of fingerprinting (FP) applications, this paper investigates the reduction of quantization levels in the Received Signal Strength Indicator (RSSI) till to its binary representation. One of the common drawbacks of FP is the large data size and consequently the large search space and computational load as a result of either vastness of the positioning area or the finer resolution in the...
One of the key challenges in the ever-changing ubiquitous computing environment of Internet of Things is accurate determination of each of its' elements location. Indoor localization for smartphones has been in line with this research initiatives in the last decade, along with the inherited background from wireless sensor networks perspective. Therefore, most of the algorithms from the literature...
In this paper, an indoor vehicle multi-level positioning algorithm is proposed that makes use of an indoor map, as well as dead-reckoning sensor information that is available in every car. A particle filter framework is used for online optimal Bayesian vehicle positioning with indoor-outdoor transitions. The method is validated experimentally in two indoor multi-level car parks. The achieved results...
To obtain a trade-off between location accuracy and implementation cost, recursive localization schemes are being pursued as a cost-effective alternative to more expensive localization approaches, where localization information increases progressively as new nodes compute their positions and become themselves reference nodes. A strategy is then required to control and maintain the distribution of...
All indoor positioning approaches face the challenge to deal with erroneous input data from sensors. Especially independent systems like dead reckoning rely on highly accurate input data from accelerometers and gyroscopes for an accurate prediction of the user's position. But with the widespread of affordable mobile devices equipped with low-cost sensors, the obtained input data is noisy and of poor...
This paper describes an Indoor Positioning System (IPS) that fuses an Ultra-Wideband (UWB) sensor-based positioning solution with an Inertial Measurement Unit (IMU) sensor-based positioning solution to obtain a robust, yet, optimal positioning performance. Sensor fusion is accomplished via an Extended Kalman Filter (EKF) design which simultaneously estimates the IMU sensors' systematic errors and...
Ranked Based Fingerprinting uses only ordering indices instead of actual Wi-Fi RSS values in order to make the algorithm insensitive to devices. A key component of the RBF algorithm is a similarity measure which is used to compare and find the closest ranked fingerprints. Previous papers study a few similarity measures; here we study 49 similarity measures in a test with a benchmark with publicly...
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