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Author: Thabet Mismar Publisher: ISBN: Category : Kalman filtering Languages : en Pages : 152
Book Description
Since its introduction to the public in 1994, the Global Positioning System (GPS) has been used in every aspect of our lives. While GPS works just fine most of the times, such as navigating an unknown city using a portable GPS unit or soldiers using it in the battle field, scenarios arise where GPS fails as a reliable positioning and localization system; like inside buildings and tunnels. Cooperative localization using cellular phones would solve this problem since there is a much higher number of information sources (other surrounding cellular users) that are much closer to the user, whereas the GPS system only has a limited number of information sources which are thousands of kilometers away. Spoofing, although not popular in GPS, is a topic of a few research papers. With the introduction of cooperative localization, spoofing will be easier to implement and harder to defend against. Not much research has been done to study the effects of spoofing attacks on cooperative localization networks. In this dissertation, it is shown that reliable positioning and localization is possible using cooperative localization through cellular networks. In addition, it proves that processing sufficient information from a number of information transmitting users can mitigate spoofing attacks on any network. This can be done by filtering out the extreme location estimations resulting from the spoofing attacks. Since Kalman filter helps in predicting the movement of mobile users, using Kalman filter for mobile network users significantly helped reduce the error in estimating the user’s location.
Author: Chao Gao Publisher: CRC Press ISBN: 9781032401294 Category : Cooperative localization Languages : en Pages : 0
Book Description
This book captures the latest results and techniques for cooperative navigation drawn from a broad array of disciplines. It is intended to provide the reader with a generic and comprehensive view of contemporary state estimation methodologies for localization and navigation.
Author: Thabet Mismar Publisher: ISBN: Category : Kalman filtering Languages : en Pages : 152
Book Description
Since its introduction to the public in 1994, the Global Positioning System (GPS) has been used in every aspect of our lives. While GPS works just fine most of the times, such as navigating an unknown city using a portable GPS unit or soldiers using it in the battle field, scenarios arise where GPS fails as a reliable positioning and localization system; like inside buildings and tunnels. Cooperative localization using cellular phones would solve this problem since there is a much higher number of information sources (other surrounding cellular users) that are much closer to the user, whereas the GPS system only has a limited number of information sources which are thousands of kilometers away. Spoofing, although not popular in GPS, is a topic of a few research papers. With the introduction of cooperative localization, spoofing will be easier to implement and harder to defend against. Not much research has been done to study the effects of spoofing attacks on cooperative localization networks. In this dissertation, it is shown that reliable positioning and localization is possible using cooperative localization through cellular networks. In addition, it proves that processing sufficient information from a number of information transmitting users can mitigate spoofing attacks on any network. This can be done by filtering out the extreme location estimations resulting from the spoofing attacks. Since Kalman filter helps in predicting the movement of mobile users, using Kalman filter for mobile network users significantly helped reduce the error in estimating the user’s location.
Author: Jaime Lien Publisher: ISBN: Category : Languages : en Pages : 93
Book Description
Location-aware technologies have the potential to revolutionize computing, cellular services, sensor networks, and many other commercial, military, and social applications. In wireless networks, accurate information about an agent's location can give meaning to observed data and facilitate the agent's interactions with its surroundings and neighbors. Determining the location of one or more agents, known as localization or positioning, is a fundamental challenge. Most existing localization methods rely on existing infrastructure and hence lack the flexibility and robustness necessary for large ad-hoc networks. In this thesis, we describe a framework for localization that overcomes these limitations by utilizing cooperation: the agents in the network work together to determine their individual locations. We derive a practical algorithm for cooperative localization by formulating the problem as a factor graph and applying the sum-product algorithm. Each agent uses relative positioning measurements and probabilistic location information from its neighbors to iteratively update its location estimate. We investigate the performance of this algorithm in a network of ultra-wideband (UWB) nodes, which are well-suited for localization due to their potential to measure inter-node distances with high accuracy. Realistic models of UWB ranging error, based on an extensive measurement campaign in several indoor environments, are incorporated into the localization algorithm. Using the experimental data and simulations, we quantify the benefits that cooperation brings to localization.
Author: Luigi Piroddi Publisher: Springer Nature ISBN: 3030859185 Category : Technology & Engineering Languages : en Pages : 151
Book Description
This open access book presents thirteen outstanding doctoral dissertations in Information Technology from the Department of Electronics, Information and Bioengineering, Politecnico di Milano, Italy. Information Technology has always been highly interdisciplinary, as many aspects have to be considered in IT systems. The doctoral studies program in IT at Politecnico di Milano emphasizes this interdisciplinary nature, which is becoming more and more important in recent technological advances, in collaborative projects, and in the education of young researchers. Accordingly, the focus of advanced research is on pursuing a rigorous approach to specific research topics starting from a broad background in various areas of Information Technology, especially Computer Science and Engineering, Electronics, Systems and Control, and Telecommunications. Each year, more than 50 PhDs graduate from the program. This book gathers the outcomes of the thirteen best theses defended in 2020-21 and selected for the IT PhD Award. Each of the authors provides a chapter summarizing his/her findings, including an introduction, description of methods, main achievements and future work on the topic. Hence, the book provides a cutting-edge overview of the latest research trends in Information Technology at Politecnico di Milano, presented in an easy-to-read format that will also appeal to non-specialists.
Author: Kamiar Radnosrati Publisher: Linköping University Electronic Press ISBN: 9176852695 Category : Languages : en Pages : 102
Book Description
The possibilities for positioning in cellular networks has increased over time, pushed by increased needs for location based products and services for a variety of purposes. It all started with rough position estimates based on timing measurements and sector information available in the global system for mobile communication (gsm), and today there is an increased standardization effort to provide more position relevant measurements in cellular communication systems to improve on localization accuracy and availability. A first purpose of this thesis is to survey recent efforts in the area and their potential for localization. The rest of the thesis then investigates three particular aspects, where the focus is on timing measurements. How can these be combined in the best way in long term evolution (lte), what is the potential for the new narrow-band communication links for localization, and can the timing measurement error be more accurately modeled? The first contribution concerns a narrow-band standard in lte intended for internet of things (iot) devices. This lte standard includes a special position reference signal sent synchronized by all base stations (bs) to all iot devices. Each device can then compute several pair-wise time differences that corresponds to hyperbolic functions. Using multilateration methods the intersection of a set of such hyperbolas can be computed. An extensive performance study using a professional simulation environment with realistic user models is presented, indicating that a decent position accuracy can be achieved despite the narrow bandwidth of the channel. The second contribution is a study of how downlink measurements in lte can be combined. Time of flight (tof) to the serving bs and time difference of arrival (tdoa) to the neighboring bs are used as measurements. From a geometrical perspective, the position estimation problem involves computing the intersection of a circle and hyperbolas, all with uncertain radii. We propose a fusion framework for both snapshot estimation and filtering, and evaluate with both simulated and experimental field test data. The results indicate that the position accuracy is better than 40 meters 95% of the time. A third study in the thesis analyzes the statistical distribution of timing measurement errors in lte systems. Three different machine learning methods are applied to the experimental data to fit Gaussian mixture distributions to the observed measurement errors. Since current positioning algorithms are mostly based on Gaussian distribution models, knowledge of a good model for the measurement errors can be used to improve the accuracy and robustness of the algorithms. The obtained results indicate that a single Gaussian distribution is not adequate to model the real toa measurement errors. One possible future study is to further develop standard algorithms with these models.
Author: João Figueiras Publisher: John Wiley & Sons ISBN: 1119957567 Category : Science Languages : en Pages : 236
Book Description
This book presents the most recent state of the art in mobile positioning and tracking techniques. This book discusses mobile positioning solutions applied on top of current wireless communication networks. In addition, the authors introduce advanced and novel topics such as localization in heterogeneous and cooperative networks, providing a unified treatment of the topic for researchers and industry professionals alike. Furthermore, the book focuses on application areas of positioning, basics of wireless communications for positioning, data fusion and filtering techniques, fundamentals of tracking, error mitigation techniques, positioning systems and technologies, and cooperative mobile positioning systems. Key Features: Covers the state of the art of satellite- and terrestrial-based positioning systems, spanning from outdoor to indoor environments and from wide area networks to short-range networks Discusses a whole range of topics related to mobile positioning: from fundamentals of positioning to the description of a wide spectrum of mobility models for tracking, from details on data fusion and filtering techniques to error mitigation techniques (including aspects of signal processing) Provides a solid bridge between research and industry envisaging a potential implementation of the presented solutions Fills the gap between positioning and communication systems, showing how features of communication systems can be used for positioning purposes and how the retrieved location information can be used to enhance the performance of wireless networks. Includes an accompanying website This book will be a valuable guide for advanced students studying related courses. Professionals and practitioners in the field of positioning and mobile technologies, and software and service developers will also find this book of interest.
Author: Stefano Severi Publisher: LAP Lambert Academic Publishing ISBN: 9783843353298 Category : Wireless sensor networks Languages : en Pages : 96
Book Description
This book addresses the problem of localization for cooperative WSNs. Time synchronization is a fundamental requirement for every network. In this context, a new approach based on the estimation theory is proposed to evaluate the ultimate performance limit in network time synchronization. Sensor network localization algorithms estimate the locations of sensors with initially unknown location information by using knowledge of the absolute positions of a few sensors and inter-sensor measurements such as distance and bearing measurements. A new Semidefinite Programming (SDP) framework to analyze and solve the problem of flip- ambiguity that afflicts range-based network localization algorithms with incomplete ranging information. Another contribution in the field of position estimate is about multihop networks, network with a low degree of connectivity, in which couples of given any nodes, in order to communicate, have to rely on one or more intermediate nodes (hops). The last point of this book discuss a new low-complexity tracking algorithm for the position tracking of a user in a WLAN-based indoor localization system.
Author: Mauricio Castillo-Effen Publisher: ISBN: Category : Languages : en Pages :
Book Description
ABSTRACT: A novel solution for the localization of wireless networked systems is presented. The solution is based on cooperative estimation, inter-node ranging and strap-down inertial navigation. This approach overrides limitations that are commonly found in currently available localization/positioning solutions. Some solutions, such as GPS, make use of previously deployed infrastructure. In other methods, computations are performed in a central fusion center. In the robotics field, current localization techniques rely on a simultaneous localization and mapping, (SLAM), process, which is slow and requires sensors such as laser range finders or cameras. One of the main attributes of this research is the holistic view of the problem and a systems-engineering approach, which begins with analyzing requirements and establishing metrics for localization. The all encompassing approach provides for concurrent consideration and integration of several aspects of the localization problem, from sensor fusion algorithms for position estimation to the communication protocols required for enabling cooperative localization. As a result, a conceptual solution is presented, which is flexible, general and one that can be adapted to a variety of application scenarios. A major advantage of the solution resides in the utilization of wireless network interfaces for communications and for exteroceptive sensing. In addition, the localization solution can be seamlessly integrated into other localization schemes, which will provide faster convergence, higher accuracy and less latency. Two case-studies for developing the main aspects of cooperative localization were employed. Wireless sensor networks and multi-robot systems, composed of ground robots, provided an information base from which this research was launched. In the wireless sensor network field, novel nonlinear cooperative estimation algorithms are proposed for sequential position estimation. In the field of multi-robot systems the issues of mobility and proprioception, which uses inertial measurement systems for estimating motion, are contemplated. Motion information, in conjunction with range information and communications, can be used for accurate localization and tracking of mobile nodes. A novel partitioning of the sensor fusion problem is presented, which combines an extended Kalman filter for dead-reckoning and particle filters for aiding navigation.
Author: Chao Gao Publisher: CRC Press ISBN: 0429016689 Category : Technology & Engineering Languages : en Pages : 636
Book Description
This book captures the latest results and techniques for cooperative localization and navigation drawn from a broad array of disciplines. It provides the reader with a generic and comprehensive view of modeling, strategies, and state estimation methodologies in that fields. It discusses the most recent research and novel advances in that direction, exploring the design of algorithms and architectures, benefits, and challenging aspects, as well as a potential broad array of disciplines, including wireless communication, indoor localization, robotics, emergency rescue, motion analysis, etc.
Author: Thabet Mismar
Author: Chao Gao
Author: Thabet Mismar
Author: Jaime Lien
Author: Wei-Shiuan Wang
Author: Luigi Piroddi
Author: Kamiar Radnosrati
Author: João Figueiras
Author: Stefano Severi
Author: Mauricio Castillo-Effen
Author: Chao Gao