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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: 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: 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: Chao Gao Publisher: CRC Press ISBN: 0429016670 Category : Technology & Engineering Languages : en Pages : 731
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: Bernhard Etzlinger Publisher: Foundations and Trends in Signal Processing ISBN: 9781680834345 Category : Languages : en Pages : 116
Book Description
Modern day networking and computing systems rely increasingly on knowing the location of the user. These include state-of-the art technologies such as navigation of vehicles and robots, traffic planning, or light control in smart home environments. In the future, even more services will appear. The predominant localization technology currently uses satellite signals but this only works outdoors, is expensive, and consumes considerable power. Alternative localization technologies have been recently developed using optical, ultra-sound, or radar techniques. All of these require additional hardware components to work effectively. Radio-frequency (RF) localization is a technique that uses communication signals to perform the task without the need for any extra hardware. This monograph addresses the role of synchronization in radio localization and provides a comprehensive overview of recent developments suitable for current and future practical implementations. The material is intended for both theoreticians and practitioners and is written to be accessible to novices while covering state-of-the-art topics of interest to advanced researchers of localization and synchronization systems.
Author: Mao, Guoqiang Publisher: IGI Global ISBN: 1605663972 Category : Computers Languages : en Pages : 526
Book Description
Wireless localization techniques are an area that has attracted interest from both industry and academia, with self-localization capability providing a highly desirable characteristic of wireless sensor networks. Localization Algorithms and Strategies for Wireless Sensor Networks encompasses the significant and fast growing area of wireless localization techniques. This book provides comprehensive and up-to-date coverage of topics and fundamental theories underpinning measurement techniques and localization algorithms. A useful compilation for academicians, researchers, and practitioners, this Premier Reference Source contains relevant references and the latest studies emerging out of the wireless sensor network field.
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: 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: Yan Zhang Publisher: CRC Press ISBN: 1420064703 Category : Computers Languages : en Pages : 518
Book Description
Cooperative devices and mechanisms are increasingly important to enhance the performance of wireless communications and networks, with their ability to decrease power consumption and packet loss rate and increase system capacity, computation, and network resilience. Considering the wide range of applications, strategies, and benefits associated wit
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: Tery Osmar Caisaguano Vásquez Publisher: ISBN: Category : Languages : en Pages :
Book Description
[ANGLÈS] Location information and location-based service have gained importance in recent years because, based on their concept, a new business market has been opened which encompass emergency services, security, monitoring, tracking, logistics, etc. Nowadays, the most developed positioning systems, namely the Global Navigation Satellite Systems (GNSS), are meant for outdoor use. In order to integrate outdoor and indoor localization in the same mobile application, several lines of research have been created for the purpose of investigating the possibility of wireless network technologies and of overcoming the challenges faced by GNSS in performing localization and navigation in indoor environments. The benefit in using wireless networks is that they provide a minimally invasive solution which is based on software algorithms that can be implemented and executed in the Mobile Station (MS) or in a Location Server connected to the network. This thesis focuses on the development of localization approaches based on Received Signal Strength (RSS) and applied in WLANs. Such approaches demonstrated in recent research advances that RSS-based localization algorithms are the simplest existing approaches due to the fact that the RSSs are most accessible existing measurements. RSS measurements can be used with two main algorithms, which are addressed in this thesis: Fingerprinting method (FP) and Pathloss method (PL). These two methods can be applied in both cooperative and non-cooperative algorithms. Such algorithms are evaluated here in terms of Root Mean Square Error (RMSE) for both simulated and real-field data.
Author: Mauricio Castillo-Effen
Author: Mauricio Castillo-Effen
Author: Jaime Lien
Author: Chao Gao
Author: Bernhard Etzlinger
Author: Mao, Guoqiang
Author: Luigi Piroddi
Author: Stefano Severi
Author: Yan Zhang
Author: Chao Gao
Author: Tery Osmar Caisaguano Vásquez