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Dissertations / Theses on the topic 'Indoor localization'
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Gao, Xiangjian. "UWB Indoor Localization System." Thesis, The George Washington University, 2018. http://pqdtopen.proquest.com/#viewpdf?dispub=10813674.
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This thesis report has introduced the UWB Indoor Localization System. In the beginning, this thesis report has explained the Indoor Localization System and presented existing techniques (such as Wi-Fi and Bluetooth) to construct an Indoor Localization System. Then, this thesis report has discussed the Ultra Wideband Radio fundamentals to analyze its construction and operating mechanism. During the transmission, the UWB signals will pass an additive white Gaussian noise channel with multipath effects, which cause errors in the values of bits. This thesis report has studied different solutions (such as Modulation Methods and Rake Receiver) to improve the bit error rate in different situations (such as Multipath-free AWGN channel). Next, this thesis report utilizes the UWB Radio fundamentals to show and compare different positioning algorithms (such as TOA and AOA). This thesis report focuses on TOA algorithm. For TOA algorithm, this thesis report has analyzed the IEEE UWB standards and the UWB Radio fundamentals to present and compare different types of receivers. Finally, this thesis report has studied algorithms (such as WLS) to solve non-linear equations to find the position of a mobile station with NLOS effects. In this thesis report, an algorithm (removing excess delay) has been used to mitigate NLOS effects with the simulation based on IEEE 802.15.4a channels. The simulation results are shown in chapter 12, and the average positioning error is around 7 cm.
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Barac, Daniel. "Localization algorithms for indoor UAVs." Thesis, Linköpings universitet, Reglerteknik, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-72217.
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The increased market for navigation, localization and mapping system has encouraged the research to dig deeper into these new and challenging areas. The remarkable development of computer soft- and hardware have also opened up many new doors. Things which more or less where impossible ten years ago are now reality. The possibilities of using a mathematical approach to compensate for the need of expensive sensors has been one of the main objectives in this thesis. Here you will find the basic principles of localization of indoor UAVs using particle filter (PF) and Octomaps, but also the procedures of implementing 2D scanmatching algorithms and quaternions. The performance of the algorithms is evaluated using a high precision motion capture system. The UAV which forms the basis for this thesis is equipped with a 2D laser and an inertial measurement unit (IMU). The results show that it is possible to perform localization in 2D with centimetre precision only by using information from a laser and a predefined Octomap.
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Zaharans, Eriks. "Indoor robot localization and collaboration." Thesis, Linköpings universitet, Institutionen för datavetenskap, 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-102604.
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The purpose of this thesis is to create an indoor rescue scenario with multiple self-localizing robots that are able to collaborate for a victim search. Victims are represented by RFID tags and detecting them combined with an accurate enough location data is considered as a successful finding. This setup is created for use in a laboratory assignment at Linköping University. We consider the indoor localization problem by trying to use as few sensors as possible and implement three indoor localization methods - odometry based, passive RFID based, and our approach by fusing both sensor data with particle filter.The Results show that particle filter based localization performs the best in comparison to the two other implemented methods and satisfies the accuracy requirements stated for the scenario. The victim search problem is solved by an ant mobility (pheromone-based) approach which integrates our localization method and provides a collaborative navigation through the rescue area. The purpose of the pheromone mobility approach is to achieve a high coverage with an acceptable resource consumption.Experiments show that area is covered with approximately 30-40% overhead in traveled distance comparing to an optimal path.
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Pathapati, Subbu Kalyan Sasidhar. "Indoor Localization Using Magnetic Fields." Thesis, University of North Texas, 2011. https://digital.library.unt.edu/ark:/67531/metadc103371/.
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Indoor localization consists of locating oneself inside new buildings. GPS does not work indoors due to multipath reflection and signal blockage. WiFi based systems assume ubiquitous availability and infrastructure based systems require expensive installations, hence making indoor localization an open problem. This dissertation consists of solving the problem of indoor localization by thoroughly exploiting the indoor ambient magnetic fields comprising mainly of disturbances termed as anomalies in the Earth’s magnetic field caused by pillars, doors and elevators in hallways which are ferromagnetic in nature. By observing uniqueness in magnetic signatures collected from different campus buildings, the work presents the identification of landmarks and guideposts from these signatures and further develops magnetic maps of buildings - all of which can be used to locate and navigate people indoors. To understand the reason behind these anomalies, first a comparison between the measured and model generated Earth’s magnetic field is made, verifying the presence of a constant field without any disturbances. Then by modeling the magnetic field behavior of different pillars such as steel reinforced concrete, solid steel, and other structures like doors and elevators, the interaction of the Earth’s field with the ferromagnetic fields is described thereby explaining the causes of the uniqueness in the signatures that comprise these disturbances. Next, by employing the dynamic time warping algorithm to account for time differences in signatures obtained from users walking at different speeds, an indoor localization application capable of classifying locations using the magnetic signatures is developed solely on the smart phone. The application required users to walk short distances of 3-6 m anywhere in hallway to be located with accuracies of 80-99%. The classification framework was further validated with over 90% accuracies using model generated magnetic signatures representing hallways with different kinds of pillars, doors and elevators. All in all, this dissertation contributes the following: 1) provides a framework for understanding the presence of ambient magnetic fields indoors and utilizing them to solve the indoor localization problem; 2) develops an application that is independent of the user and the smart phones and 3) requires no other infrastructure since it is deployed on a device that encapsulates the sensing, computing and inferring functionalities, thereby making it a novel contribution to the mobile and pervasive computing domain.
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KOLEDOYE, MOSES AYODELE. "Cooperative Indoor Localization under Uncertainties." Doctoral thesis, Università degli studi di Pavia, 2019. http://hdl.handle.net/11571/1244487.
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Localization of wireless nodes in GPS-denied spaces is being applied in a number of scenarios such as sport teams requiring positioning data for post-match analysis, robot teams carrying out a common task in an indoor environment, among other similar applications.
These applications would usually involve a sizable number of participating nodes making scalability a fundamental requirement of the localization setup under the constraints of energy efficiency and position update time. Adopting techniques that are resilient to uncertainties in the deployment region of the nodes is important for the overall accuracy of the setup.
In this work, we focus on a range-based cooperative localization technique where nodes are distinguished as either fixed (anchors) or mobile (tags), and are subject to uncertainties in the environment.
Cooperation here implies that the positions of all nodes are computed simultaneously using a joint pairwise distance information while uncertainty refers to any known condition that degrades localization accuracy.
These uncertainties are present in the form of a) missing distance measurements; b) obstacles in the deployment region; and c) stochasticity in measurements for cases where Radio Frequency (RF) signal strength is employed for range estimation.
The missing distances may be due to either tags being passive or tags acting as transmitters.
For this, we propose a specialized form of Multidimensional Scaling (MDS) that tackles the problem by neglecting tag-to-tag interactions while inferring tag positions directly from those of anchors.
Furthermore, obstacles in the deployment region force signals to travel in nonline-of-sight (NLOS) paths often leading to a lengthening of range estimates.
For this, we develop a novel approach that reuses an intrinsic property of anchored MDS to cooperatively estimate NLOS biases in the range estimates.
The problem is formulated as a constrained-optimization problem whose solution provides positions with improved accuracy and can be solved by Sequential Quadratic Programming (SQP).
The approach works entirely at the application layer and is neither concerned with the probability distribution of LOS/NLOS nor any other a priori knowledge about the environment.
Experimental results show that position errors can be reduced by up to 28% for a set up to 4 fixed and 3 mobile nodes.
In the final discourse relating to uncertainties, we examine lightweight filtering techniques for smoothening Received Signal Strength (RSS) measurements to render them more suitable for range estimation.
We formulate the expected values of range (in terms of the Cramér-Rao bound) when estimated directly from raw measurements using an unbiased estimator and compare with range estimates from the filtered measurements.
Results show that applying a suitable filtering technique can significantly improve the accuracy of range estimation from raw RSSI measurements.
In the last part of this work, we present an open discussion on design considerations for scalable indoor localization deployments.
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Lv, Xiaowei. "Indoor localization in wireless sensor networks." Thesis, Troyes, 2015. http://www.theses.fr/2015TROY0009/document.
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Ce manuscrit est dédié à la résolution du problème de localisation dans les réseaux de capteurs sans fil mobiles. Les méthodes développées se basent principalement sur des caractéristiques de fingerprints ainsi que sur des informations de mobilité. Les premières s'attaquent aux valeurs de RSSI entre capteurs tandis que les deuxièmes prennent en considération la mobilité des capteurs mesurée à l'aide d'accéléromètres et de gyroscopes. La combinaison des données collectées est effectuée dans le cadre de l'analyse par intervalles, ou bien du filtrage de Kalman. Les travaux proposés introduisent des modèles de mobilité d'ordres un, deux ou trois, permettant d'approximer au mieux les trajectoires des capteurs à l'aide des accélérations mesurées. Ceux-là sont couplés à l'algorithme des K plus proches voisins, d'abord dans un système centralisé. Ensuite, les modèles de mobilités sont améliorés pour prendre en compte les rotations des nœuds. Une méthode de localisation décentralisée est également proposée dans ce qui suit, s'adaptant au mécanisme fonctionnel des réseaux de capteurs de grande échelle. Enfin, ce manuscrit propose une méthode de zonage visant à déterminer les zones dans lesquelles les capteurs résident. La méthode proposée aborde le problème de zonage en utilisant à la fois la théorie des fonctions de croyance et l'analyse par intervallesThis thesis is dedicated to solve the localization problem in mobile wireless sensor networks. It works mainly with fingerprints features and inertial movements information. The former tackles the RSSIs values between sensors while the latter deals with the objets movement attitude by using accelerometer and gyroscope. The combination of both information is performed in terms of interval analysis, or Kalman filtering. The proposed work introduces three orders mobility models to approximate nodes trajectories using accelerations, combined then to the weighted K nearest neighbors algorithm in a centralized scheme. Then the mobility models are extended up to the inertial information taking into consideration the rotations of the nodes. A decentralized localization method is also proposed in the following in view of the working mechanism of large scale sensor networks. Finally, this thesis proposes a zoning localization method aiming at determining the zones in which the nodes reside. The proposed method addresses the zoning problem by using both the belief functions theory and the interval analysis
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Poston, Jeffrey Duane. "ILoViT: Indoor Localization via Vibration Tracking." Diss., Virginia Tech, 2018. http://hdl.handle.net/10919/82871.
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Indoor localization remains an open problem in geolocation research, and once this is solved the localization enables counting and tracking of building occupants.
This information is vital in an emergency, enables occupancy-optimized heating or cooling, and assists smart buildings in tailoring services for occupants. Unfortunately, two prevalent technologies---GPS and cellular-based positioning---perform poorly indoors due to attenuation and multipath from the building. To address this issue, the research community devised many alternatives for indoor localization (e.g., beacons, RFID tags, Wi-Fi fingerprinting, and UWB to cite just a few examples). A drawback with most is the requirement for those being located to carry a properly-configured device at all times. An alternative based on computer vision techniques poses significant privacy concerns due to cameras recording building occupants. By contrast, ILoViT research makes novel use of accelerometers already present in some buildings. These sensors were originally intended to monitor structural health or to study structural dynamics. The key idea is that when a person's footstep-generated floor vibrations can be detected and located then it becomes possible to locate persons moving within a building. Vibration propagation in buildings has complexities not encountered by acoustic or radio wave propagation in air; thus, conventional localization algorithms are inadequate. ILoVIT algorithms account for these conditions and have been demonstrated in a public building to provide sub-meter accuracy. Localization provides the foundation for counting and tracking, but providing these additional capabilities confronts new challenges. In particular, how does one determine the correct association of footsteps to the person making them? The ILoViT research created two methods for solving the data association problem. One method only provides occupancy counting but has modest, polynomial time complexity. The other method draws inspiration from prior work in the radar community on the multi-target tracking problem, specifically drawing from the multiple hypothesis tracking strategy. This dissertation research makes new enhancements to this tracking strategy to account for human gait and characteristics of footstep-derived multilateration. The Virginia Polytechnic Institute and State University's College of Engineering recognized this dissertation research with the Paul E. Torgersen Graduate Student Research Excellence Award.Ph. D.
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Woolard, Americo Giuliano. "Supplementing Localization Algorithms for Indoor Footsteps." Diss., Virginia Tech, 2017. http://hdl.handle.net/10919/78698.
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The data rich nature of instrumented civil structures has brought attention to alternative applications outside of the traditional realm of structural health monitoring. An interest has been raised in using these vibration measurements for other applications such as human occupancy. An example of this is to use the vibrations measured from footsteps to locate occupants within a building. The localization of indoor footsteps can yield several benefits in areas such as security and threat detection, emergency response and evacuation, and building resource management, to name a few. The work described herein seeks to provide supplementary information to better define the problem of indoor footstep localization, and to investigate the use of several localization techniques in a real-world, operational building environment. The complexities of locating footsteps via indoor vibration measurements are discussed from a mechanics perspective using prior literature, and several techniques developed for localization in plate structures are considered for their applicability to indoor localization. A dispersion compensation tool is experimentally investigated for localization in an instrumented building. A machine learning approach is also explored using a nearest neighbor search. Additionally, a novel instrumentation method is designed based on a multi-point coupling approach that provides directional inference from a single point of measurement. This work contributes to solving the indoor footstep localization problem by consolidating the relevant mechanical knowledge and experimentally investigating several potential solutions.Ph. D.
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Pettersson, Rasmus. "Continuous localization in indoor shifting environment." Thesis, Uppsala universitet, Fasta tillståndets elektronik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-326270.
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In this Master Thesis different approaches to mobile localization within construction environments are investigated. At first an overview of different sensors commonly used within localization is presented together with different map representations and a system consisting of a laser scanner and wheel encoders is chosen. The hardware is prepared for the open source ROS environment and three different algorithms for localization are tested. Two algorithms, Gmapping and HectorSLAM, used for Simultaneous Localization and Mapping, are compared. The best map is then used by a Monte Carlo localization algorithm, AMCL, for autonomous navigation. It is found that HectorSLAM produces the most accurate map, given that the grid refinement level is fine enough for the environment. It is also found that the maximum Kullback Leiber distance, used in AMCL, needs to be calibrated in order to perform a sufficient navigation.
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Kim, Gukhwan. "Designing Robust Fiduciary Markers for Indoor Localization." Thesis, University of Ottawa (Canada), 2010. http://hdl.handle.net/10393/28703.
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In this thesis, two fiduciary markers are newly designed as an alternate method for an indoor localization system. The main purpose of this work is to design more robust fiduciary markers than currently available ones in aspect of data restoration ability against data loss. In addition, achieving more accurate pose tracking performance is another goal of this work.
Currently available fiduciary markers may not be ideal for indoor localization due to their lack of robustness against occlusions. Thus, proposed fiduciary markers must provide better performance under occlusions with respect to a marker detection rate. By adopting digital encoding/decoding techniques combined with using multiple sub-markers or PRMVS pattern, proposed ones achieved a better marker detection rate under partial occlusions. In addition, the experimental results show that proposed fiduciary markers provide more accurate camera pose measurement than other fiduciary markers.
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TJERNBERG, ISAK. "Indoor Visual Localization of the NAO Platform." Thesis, KTH, Skolan för datavetenskap och kommunikation (CSC), 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-142421.
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Global localization in an indoor environment using the NAO humanoid robot has been studied and tested experimentally. The solution relies on a pre-existing 3D map consisting of so called SURF features. Using the NAO built-in camera, SURF features are extracted and matched against the 3D map. The found 2D-3D correspondences are used to solve the PnP (Perspective-n-Point) problem and thus provide a measurement of the camera pose. These measurements are fused with odometry measurements in an Extended Kalman Filter, to provide a final estimate of the robot pose. The algorithm has been implemented and tested with a real NAO robot, with reference measurements provided by an external positioning system.Global lokalisering av NAO-robotar har studerats och testats experimentellt. Lösningen bygger på en tidigare skapad 3D karta, bestående av s.k. SURF beskrivningar. Ur bilder tagna med NAO-robotens inbyggda kamera extraheras SURF punkter och dessa matchas sedan mot 3D kartan. Matchningarna mellan bild och karta (2D till 3D) används för att ta fram en mätning av robotens position. Ett Extended Kalman Filter används för att kombinera dessa mätningar med odometri från roboten, vilket resulterar i en slutgiltig estimering av robotens position. Metoden har implementerats och testats med en riktig NAO-robot, tillsammans med ett externt positioneringssystem för referensdata.
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Persson, Lucas, and Sebastian Markström. "Indoor localization of hand-held Shopping Scanners." Thesis, KTH, Data- och elektroteknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-208931.
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This thesis investigates applicable indoor navigation systems for the next generation of hand-held shopping scanners, on behalf of the company Virtual Stores. The thesis research and review applicable indoor localization methods and ways to combine and evaluate received localization data in order to provide accurate navigation without introducing any other worn equipment for a potential user. Prototype navigation systems was proposed, developed and evaluated using a combination of carefully placed radio transmitters that was used to provide radio based localization methods using Bluetooth or UltraWide Band (UWB) and inertial sensors combined with a particle filter. The Bluetooth solution was deemed incapable of providing any accurate localization method while the prototype using a combination of UWB and inertial sensors proved promising solution with below 1m average error under optimal conditions or 2.0m average localization error in a more realistic environment. However, the system requires the surveyed area to provide 3 or more UWB transmitters in the line of sight of the UWB receiver of the user at every location facing any direction to provide accurate localization. The prototype also requires to be scaled up to provide localization to more than 1 radio transmitters at the time before being introduced to the Fast moving consumer goods market.Denna avhandling undersöker tillämpliga inomhusnavigationssystem för nästa generations handhållna shopping terminaler, på uppdrag av företaget Virtual Stores. Avhandlingen undersöker och granskar tillämpliga inomhuslokaliseringsmetoder och sätt att kombinera och utvärdera mottagna lokaliseringsdata för att bistå med ackurat navigering utan att introducera någon ytterligare utrustning för en potentiell användare. Prototypnavigationssystem föreslogs, utvecklades och utvärderades användandes en kombination av väl utplacerade radiosändare användandes Bluetooth eller UltraWide Band (UWB) och tröghetssensorer i kombination med ett partikelfilter. Bluetooth-lösningen ansågs oförmögen att tillhandahålla någon exakt lokalisering medan prototypen som använde en kombination av UWB och tröghetssensorer visade sig vara en lovande lösnings med under 1m genomsnittligt fel under optimala förhållanden eller 2,0m genomsnittligt lokaliseringsfel i mer realistisk miljö. Systemet kräver emellertid att det undersökta området tillhandahåller 3 eller fler UWB-sändare inom synfältet för UWB-mottagaren hos användaren vid varje plats och riktning för att tillhandahålla ackurat lokalisering. Prototypen behöver skalas upp för att kunna bistå med lokalisering till mer än 1 radiomottagare innan den introduceras till detaljhandlen.
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Park, Jun-geun. "Indoor localization using place and motion signatures." Thesis, Massachusetts Institute of Technology, 2013. http://hdl.handle.net/1721.1/82475.
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Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2013.This electronic version was submitted and approved by the author's academic department as part of an electronic thesis pilot project. The certified thesis is available in the Institute Archives and Special Collections.
Cataloged from department-submitted PDF version of thesis.
Includes bibliographical references (p. 141-153).
Most current methods for 802.11-based indoor localization depend on either simple radio propagation models or exhaustive, costly surveys conducted by skilled technicians. These methods are not satisfactory for long-term, large-scale positioning of mobile devices in practice. This thesis describes two approaches to the indoor localization problem, which we formulate as discovering user locations using place and motion signatures. The first approach, organic indoor localization, combines the idea of crowd-sourcing, encouraging end-users to contribute place signatures (location RF fingerprints) in an organic fashion. Based on prior work on organic localization systems, we study algorithmic challenges associated with structuring such organic location systems: the design of localization algorithms suitable for organic localization systems, qualitative and quantitative control of user inputs to "grow" an organic system from the very beginning, and handling the device heterogeneity problem, in which different devices have different RF characteristics. In the second approach, motion compatibility-based indoor localization, we formulate the localization problem as trajectory matching of a user motion sequence onto a prior map. Our method estimates indoor location with respect to a prior map consisting of a set of 2D floor plans linked through horizontal and vertical adjacencies. To enable the localization system, we present a motion classification algorithm that estimates user motions from the sensors available in commodity mobile devices. We also present a route network generation method, which constructs a graph representation of all user routes from legacy floor plans. Given these inputs, our HMM-based trajectory matching algorithm recovers user trajectories. The main contribution is the notion of path compatibility, in which the sequential output of a classifier of inertial data producing low-level motion estimates (standing still, walking straight, going upstairs, turning left etc.) is examined for metric/topological/semantic agreement with the prior map. We show that, using only proprioceptive data of the quality typically available on a modern smartphone, our method can recover the user's location to within several meters in one to two minutes after a "cold start."
by Jun-geun Park.
Ph.D.
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Du, Jinze. "Indoor localization techniques for wireless sensor networks." Thesis, Nantes, 2018. http://www.theses.fr/2018NANT4001/document.
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Cette thèse traite d’algorithmes de localisation basés sur la mesure du RSSI (Received Signal Strength Indicator) pour des applications intérieures dans des réseaux de capteurs sans fil. L’étude des caractéristiques du RSSI à partir d’un système de localisation expérimental, permet de construire un modèle de canal RSSI de type atténuation lognormale. Pour faire face à la faible précision des distances déduites de RSSI, nous proposons trois nouveaux algorithmes de localisation à l’intérieur des bâtiments basés sur la multilatération et les mesures de RSSI moyennées. Ces algorithmes pondèrent les distances mesurées en fonction de leur fiabilité supposée. Nous développons également, une stratégie d’acquisition et de suivi des paramètres du canal pour la localisation dans des applications où la position est contrainte. Pour estimer les paramètres du modèle de canal, la méthode des moindres carrés moyens (LMS) est associée à une méthode de trilatération. Des critères quantitatifs sont fournis pour garantir l’efficacité de la stratégie de suivi en proposant un compromis entre la résolution de la contrainte et la variation des paramètres du modèle. Les résultats de simulation montrent un bon comportement de la stratégie de poursuite proposée en présence d’une variation spatio-temporelle du canal de propagation. Par rapport aux algorithmes existants, une meilleure précision de localisation est obtenue au prix d’un peu plus de temps de calcul. La stratégie proposée est également testée expérimentalementIn this thesis, the author focused on RSSI based localization algorithms for indoor applications in wireless sensor networks. Firstly, from the observation of RSSI behavior based on an experimental localization system, an experimental RSSI channel model is deduced, which is consistent to the popular lognormal shadowing path loss model. Secondly, this thesis proposes three indoor localization algorithms based on multilateration and averaged RSSI. In these algorithms, the measured distances are weighted according to their assumed accuracy. Lastly, a RSSI based parameter tracking strategy for constrained position localization is proposed. To estimate channel model parameters, least mean squares method (LMS) is associated with the trilateration method. Quantitative criteria are provided to guarantee the efficiency of the proposed tracking strategy by providing a tradeoff between the constraint resolution and parameter variation. The simulation results show a good behavior of the proposed tracking strategy in presence of space-time variation of the propagation channel. Compared with the existing RSSI based algorithms, the proposed tracking strategy exhibits better localization accuracy but consumes more calculation time. In addition, experimental tracking test is performed to validate the effectiveness of the proposed tracking strategy
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Bao, Qiwei. "An Indoor-Oriented Localization And Navigation System." Case Western Reserve University School of Graduate Studies / OhioLINK, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=case1544197463942464.
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Moreira, Ricardo Vilaça. "Wireless-based infrastructures for indoor localization systems." Master's thesis, Universidade de Aveiro, 2010. http://hdl.handle.net/10773/7626.
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Mestrado em Engenharia Electrónica e TelecomunicaçõesThe rapid evolution of Wireless technologies, speci cally in the area of Wireless Sensor Networks (WSN), has led to a growing demand for the availability of information anywhere, about anything. WSN are being widely used, for example, in domotic applications, partly due to their relatively low cost and their low energy consumption nature. These characteristics make this kind of networks very useful to ll some gaps in other applications, e.g. localization-related applications. This dissertation focuses, then, on the growing importance and demand for localization of people or objects and presents one of the possible approaches to the problem of indoor localization. By merging two di erent wireless technologies (IEEE 802.11 and IEEE 802.15.4), it is possible to make wireless communications more e cient for some applications. The merge is achieved by the creation of a Gateway, with support for both standards and near-transparent translation between them. This allows cheaper 802.15.4 devices to communicate with regular 802.11 TCP/IP (Transmission Control Protocol/Internet Protocol) based networks, giving space for inumerous applications, speci cally for localization purposes, which is the main goal of this project. The creation of the necessary hardware infrastructures and its respective control software, even though the solution may be used in a large range of applications, is more speci cally directed to comply with some of the requirements of the localization system to be created, eventually. So, in addition to the Gateways that make the translation between the two already referred standards, this project consists in the creation of Tags, small low-power and low-cost end-devices that are to be attached to the objects in need of localization features. These devices communicate with the Gateways by means of an 802.15.4 connection and indirectly advertise their location, by providing the signal strength of the connection. This data is computed and can be accessed in any personal computer with a web browser and a connection to the network.
A r apida evolu c~ao das tecnologias de redes sem os, em particular na area das Wireless Sensor Networks (WSN), levou ao crescimento da necessidade de obter informa c~oes, sobre qualquer coisa, em qualquer lugar. As WSN t^em sido amplamente utilizadas, por exemplo, em aplica c~oes da area da dom otica, em parte devido ao seu relativamente baixo custo e baixo consumo de energia. Estas caracter sticas fazem com que este tipo de redes seja bastante importante no preenchimento de algumas lacunas ainda existentes noutras aplica c~oes, como por exemplo, aplica c~oes de localiza c~ao de objectos. Esta disserta c~ao foca-se, ent~ao, na crescente import^ancia e necessidade de localiza c~ao de pessoas e objectos e apresenta uma das poss veis abordagens ao problema de localiza c~ao em espa cos fechados. Atrav es da integra c~ao m utua de duas tecnologias wireless diferentes (IEEE 802.11 e 802.15.4) e poss vel tornar as comunica c~oes wireless bastante mais e cientes em alguns campos de aplica c~ao. Esta integra c~ao e conseguida com a cria c~ao de um Gateway com suporte para ambos os standards referidos e tradu c~ao quase transparente (para o utilizador) entre ambos. Assim, passa a ser poss vel a comunica c~ao entre dispositivos mais baratos (802.15.4) e redes 802.11 baseadas em TCP/IP (Transmission Control Protocol/Internet Protocol), abrindo algum espa co a cria c~ao de in umeras aplica c~oes, mais especi camente, aplica c~oes relacionadas com localiza c~ao, que representam, no fundo, o objectivo principal deste projecto. A cria c~ao das infraestruturas necess arias e do respectivo software de controlo, ainda que esta solu c~ao possa ser aplicada em muitos outros campos, foi direccionada especi camente para cumprir com alguns dos requisitos do sistema de localiza c~ao que venha eventualmente a ser criado. Assim, para al em dos Gateways, que fazem a tradu c~ao entre os dois standards j a mencionados, este projecto consiste na cria c~ao de Tags, pequenos dispositivos terminais de muito baixo custo e muito baixo consumo energ etico, que poder~ao ser acoplados aos objectos que necessitem de localiza c~ao. Estes dispositivos comunicam com os Gate- ways atrav es de uma liga c~ao wireless usando o standard IEEE 802.15.4 e, indirectamente, anunciam a sua localiza c~ao atrav es da disponibiliza c~ao do valor da for ca do sinal na conex~ao. Estas informa c~oes s~ao processadas e podem ser acedidas a partir de qualquer computador pessoal que esteja munido de um browser web e ligado a mesma rede.
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Gomes, Rui Pedro Lebreiro. "Fine-Grained localization system for indoor environments." Master's thesis, Universidade de Aveiro, 2014. http://hdl.handle.net/10773/13534.
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Mestrado em Engenharia Electrónica e de TelecomunicaçõesThe increasing demand for tracking solutions in indoor environments has led to the development of many indoor location systems based in the most diverse technologies. They are trying to fill a market niche left by the current available location systems such as the well-known Global Positioning System (GPS). These systems are limited to an outdoor usage due to the drastic attenuation of the GPS signals in closed areas and they cannot provide enough resolution to meet the requirements of certain applications. Therefore, it’s here proposed the conception of a system capable of locating a mobile module in indoor environments with an accuracy of a few centimeters. The system’s concept is based in measuring the time difference of arrival (TDOA) between a radio frequency signal and an ultrasonic burst in order to measure distances. The huge difference between the propagation velocities of RF waves comparatively to sound waves allows the system to accurately measure the time difference between the two arrivals and use that value to estimate the distance that separates the source from the destination. This document describes the development of all the necessary hardware for the conception of a final prototype and all the aspects regarding the software implementation. This system is composed by two types of devices that can be divided in Ultrasonic (US) transmitters and receivers. Each device is equipped with a RF module that allows them to communicate through a wireless network based in the IEEE802.15.4 protocol. In the end, a functional prototype was achieved that was subsequently submitted to several tests in order to evaluate its performance. These tests corroborated the viability of this localization method with the prototype achieving a remarkable precision level.
A crescente demanda por soluções de rastreamento em ambientes interiores levou ao desenvolvimento de vários sistemas de localização baseados nas mais diversas tecnologias. Eles vêm tentar colmatar um nicho de mercado deixado pelos sistemas de localização actualmente disponíveis como o caso do bem conhecido Sistema de Posicionamento Global (GPS). Estes sistemas estão limitados ao uso exterior devido à drástica atenuação dos sinais GPS em áreas fechadas e eles não oferecem resolução suficiente para cumprir os requisitos de certas aplicações. Por conseguinte, é aqui proposta a concepção de um sistema capaz de localizar um módulo móvel em ambientes interiores com uma resolução de alguns centímetros. O conceito do sistema é baseado na medição da diferença dos tempos de chegada entre um sinal de radiofrequência e um sinal de ultra-sons de forma a calcular distâncias. A enorme diferença entre as velocidades de propagação das ondas RF comparativamente às ondas sonoras permitem ao sistema medir com precisão a diferença entre o tempo de chegada dos dois sinais e usar esse valor para estimar a distância que separa a fonte do destino. Este documento descreve o desenvolvimento de todo o hardware necessário para a concepção de um protótipo bem como todos os aspectos relativos à implementação de software. Este sistema é composto por dois tipos de dispositivos que podem ser divididos em transmissores e receptores de sinais ultrassónicos. Cada dispositivo está equipado com um módulo de radiofrequência que lhes permite comunicar através de uma rede sem fios baseada no protocolo IEEE802.15.4. No final, foi alcançado um protótipo funcional que posteriormente foi submetido a vários testes de forma a avaliar o seu desempenho. Estes testes vieram corroborar a viabilidade deste método de localização com o protótipo a atingir um notável nível de precisão.
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Sark, Vladica. "Radio frequency ranging for precise indoor localization." Doctoral thesis, Humboldt-Universität zu Berlin, 2018. http://dx.doi.org/10.18452/18800.
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In den letzten Jahrzehnten sind Satellitennavigationssysteme zu einem unverzichtbaren Teil des modernen Lebens geworden. Viele innovative Anwendungen bieten ortsabhängige Dienste an, welche auf diesen Navigationssystemen aufbauen. Allerdings sind diese Dienste in Innenräumen nicht verfügbar. Daher werden seit einigen Jahren alternative Lokalisierungsmethoden für Innenräume aktiv erforscht und entwickelt.
Der Schwerpunkt dieser Arbeit liegt darauf, die Genauigkeit von Lokalisationsmethoden in Innenräumen zu erhöhen, sowie auf der effektiven Integration der entsprechenden Verfahren in drahtlose Kommunikationssysteme. Es werden zwei Ansätze vorgeschlagen und untersucht, welche die Präzision von ToF-basierten Methoden erhöhen. Zum einen wird im „Modified Equivalent Time Sampling“ (METS) Verfahren eine überabgetastete Version der vom Radioempfänger gelieferten Wellenform erzeugt und zur ToF Bestimmung verwendet. Der zweite erforschte Ansatz hat zum Ziel, Fehler auf Grund von Taktfrequenz-Abweichungen zu kompensieren. Dieses ist für kooperative Lokalisationsmethoden (N-Way ranging) von Bedeutung. Das in der Arbeit entwickelte Verfahren führt zu einer erheblichen Reduzierung der Fehler in der Abstandsmessung und damit der Positionsbestimmung.
Darüber hinaus wurde eine neue Methode untersucht, um Lokalisationsverfahren in Funksysteme für die ISM Bänder bei 2,4 GHz und 5 GHz zu integrieren. Die Methode wurde auf einer Software Defined Radio (SDR) Plattform implementiert und bewertet. Es konnte eine Genauigkeit bis zu einem Meter in der Positionsbestimmung demonstriert werden. Schließlich wurde ein Verfahren vorgeschlagen und untersucht, mit welchem Lokalisationsfähigkeit in bestehende Funksysteme integriert werden kann. Die betrachtete Methode wurde in einem 60 GHz Funksystem mit hoher Datenrate implementiert. Die Untersuchungen zeigten eine Positionsgenauigkeit von 1 cm bei einer gleichzeitig hohen Datenrate für die Übertragung von Nutzdaten.In the last couple of decades the Global Navigation Satellite Systems (GNSS) have become a very important part of our everyday life. A huge number of applications offer location based services and navigation functions which rely on these systems. Nevertheless, the offered localization services are not available indoors and their performance is significantly affected in urban areas. Therefore, in the recent years, a large number of wireless indoor localization systems are being actively investigated and developed. The main focus of this work is on improving precision and accuracy of indoor localization systems, as well as on the implementation and integration of localization functionality in wireless data transmission systems. Two approaches for improving the localization precision and accuracy of ToF based methods are proposed. The first approach, referred to as modified equivalent time sampling (METS) is used to reconstruct an oversampled versions of the waveforms acquired at the radio receiver and used for ToF based localization. The second proposed approach is used to compensate the ranging error due to clock frequency offset in cooperative localization schemes like N-Way ranging. This approach significantly reduces the ranging and, therefore, localization errors and has much better performance compared to the existing solutions. An approach for implementation of localization system in the 2.4/5 GHz ISM band is further proposed in this work. This approach is implemented and tested on a software defined radio platform. A ranging precision of better than one meter is demonstrated. Finally, an approach for integrating localization functionality into an arbitrary wireless data transmission system is proposed. This approach is implemented in a 60 GHz wireless system. A ranging precision of one centimeter is demonstrated.
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Boldrini, Leonardo. "Camera Based Localization for Indoor Optical Wireless Networks." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2020. http://amslaurea.unibo.it/20240/.
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The main focus of this work is to implement device localization in an indoor communication network which employs short range Optical Wireless Communication (OWC) using pencil beams.
OWC is becoming increasingly important as a solution to the shortage of available radio spectrum. In order to counter this problem, a radical new approach is proposed by performing wireless communication using optical rather than radio techniques, by deploying optical pencil beam technologies to provide users with access to an indoor optical fiber infrastructure. An architecture based on free-space optics has been adopted. The narrow infrared beam is considered a good solution because of its ability to optimally carry all the information which the optical fiber can transport, in an energy-efficient way.
Beam Steered - Infrared Light Communication (BS-ILC) brings the light only where is needed. Multiple beams may independently serve user devices within a room, hence each device can get a non-shared capacity without conflicts with other devices.
Infrared light beams, additionally, are allowed to be operated at a higher power than visible light beams, due to a higher eye safety threshold for infrared light. Together with the directivity of a beam, this implies that the received signal-to-noise ratio with BS-ILC can be substantially higher than with Visible Light Communication (VLC), enabling a higher data rate and longer reach at better power efficiency. Current BS-ILC prototypes allow multiple beams with over 100 Gbit/s per beam. This high performance can only be achieved with small footprints, hence the system needs to know the exact location of user devices.
In this thesis, an accurate and fast localization/tracking technique using a low-cost camera and simple image processing is presented.
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Harati, Ahad. "Simultaneous localization and mapping for structured indoor environments /." Zürich : ETH, 2008. http://e-collection.ethbib.ethz.ch/show?type=diss&nr=17938.
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Jensfelt, Patric. "Approaches to Mobile Robot Localization in Indoor Environments." Doctoral thesis, Stockholm : Tekniska högsk, 2001. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-3194.
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Lazik, Patrick J. E. "Ultrasonic Ranging and Indoor Localization for Mobile Devices." Research Showcase @ CMU, 2017. http://repository.cmu.edu/dissertations/1014.
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Location tracking on mobile devices like smartphones has already begun to revolutionize personal navigation. Unfortunately, these services perform poorly indoors when GPS signals are no longer available. Highly accurate indoor location tracking would enhance a wide variety of applications including: building navigation (malls, factories, airports), augmented reality, location-aware pervasive computing, targeted advertising, social networking, participatory sensing and could even support next generation beam forming MIMO wireless networks. Current indoor localization systems for smartphones often use RF signal strength from WiFi access points or Bluetooth Low Energy (BLE) beacons to fingerprint indoor locations. Such systems are sensitive to environmental changes and obstructions, require extensive training procedures and are limited in both absolute as well as semantic localization accuracy. We propose using audio signals in the ultrasound spectrum, just above the human hearing range, to provide ranging and localization for many off-the-shelf mobile devices that are equipped with microphones. Ultrasonic ranging provides several advantages over RF-based ranging and fingerprinting approaches, which make it attractive for indoor localization. A relatively low propagation speed and carrier frequency allow for precise propagation time measurements in software using commodity hardware. Acoustic signals also have a low penetration depth, which confines them to target areas for accurate semantic localization. In this dissertation we address several challenges related to acoustic localization, including system scalability, ranging and localization accuracy, energy efficiency, robustness to noise, elimination of human perceivable audio artifacts, efficient use of limited acoustic bandwidth and rapid deployment strategies.
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Callmer, Jonas. "Autonomous Localization in Unknown Environments." Doctoral thesis, Linköpings universitet, Reglerteknik, 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-91567.
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Over the last 20 years, navigation has almost become synonymous with satellite positioning, e.g. the Global Positioning System (GPS). On land, sea or in the air, on the road or in a city, knowing ones position is a question of getting a clear line of sight to enough satellites. Unfortunately, since the signals are extremely weak there are environments the GPS signals cannot reach but where positioning is still highly sought after, such as indoors and underwater. Also, because the signals are so weak, GPS is vulnerable to jamming. This thesis is about alternative means of positioning for three scenarios where gps cannot be used. Indoors, there is a desire to accurately position first responders, police officers and soldiers. This could make their work both safer and more efficient. In this thesis an inertial navigation system using a foot mounted inertial magnetic mea- surement unit is studied. For such systems, zero velocity updates can be used to significantly reduce the drift in distance travelled. Unfortunately, the estimated direction one is moving in is also subject to drift, causing large positioning errors. We have therefore chosen to throughly study the key problem of robustly estimating heading indoors. To measure heading, magnetic field measurements can be used as a compass. Unfortunately, they are often disturbed indoors making them unreliable. For estimation support, the turn rate of the sensor can be measured by a gyro but such sensors often have bias problems. In this work, we present two different approaches to estimate heading despite these shortcomings. Our first system uses a Kalman filter bank that recursively estimates if the magnetic readings are disturbed or undisturbed. Our second approach estimates the entire history of headings at once, by matching integrated gyro measurements to a vector of magnetic heading measurements. Large scale experiments are used to evaluate both methods. When the heading estimation is incorporated into our positioning system, experiments show that positioning errors are reduced significantly. We also present a probabilistic stand still detection framework based on accelerometer and gyro measurements. The second and third problems studied are both maritime. Naval navigation systems are today heavily dependent on GPS. Since GPS is easily jammed, the vessels are vulnerable in critical situations. In this work we describe a radar based backup positioning system to be used in case of GPS failure. radar scans are matched using visual features to detect how the surroundings have changed, thereby describing how the vessel has moved. Finally, we study the problem of underwater positioning, an environment gps signals cannot reach. A sensor network can track vessels using acoustics and the magnetic disturbances they induce. But in order to do so, the sensors themselves first have to be accurately positioned. We present a system that positions the sensors using a friendly vessel with a known magnetic signature and trajectory. Simulations show that by studying the magnetic disturbances that the vessel produces, the location of each sensor can be accurately estimated.
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Mendoza, Hermie P. "Distributed Localization for Wireless Distributed Networks in Indoor Environments." Thesis, Virginia Tech, 2011. http://hdl.handle.net/10919/33805.
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Positioning systems enable location-awareness for mobile devices, computers, and even tactical
radios. From the collected location information, location-based services can be realized.
One type of positioning system is based on location fingerprints. Unlike the conventional
positioning techniques of time of or time delay of arrival (TOA/TDOA) or even angle of arrival
(AOA), fingerprinting associates unique characteristics such as received signal strength
(RSS) that differentiates a location from another location. The location-dependent characteristics
then can be used to infer a userâ s location. Furthermore, fingerprinting requires no
specialized hardware because of its reliance on an existing communications infrastructure.
In estimating a userâ s position, fingerprint-based positioning systems are centrally calculated
on a mobile computer using either a Euclidean distance algorithm, Bayesian statistics, or
neural networks. With large service areas and, subsequently, large radio maps, one mobile
computer may not have the adequate resources to locally compute a userâ s position. Wireless
distributed computing provides a means for the mobile computer to meet the location-based
service requirements and increase its network lifetime. This thesis develops distributed localization
algorithms to be used in an indoor fingerprint-based positioning system. Fingerprint
calculations are not computed on a single device, but rather on a wireless distributed computing
network on Virginia Techâ s Cognitive Radio Network Testbed (CORNET).Master of Science
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Bertoletti, Michele. "Appearence-based Visual Localization for Indoor Navigation of Quadrotors." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2020.
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The main idea behind this work is to perform mapping and localization for a quadrotor in an indoor environment topologically represented by a set of ordered key images acquired in a prior learning phase. The mapping and localization are based on a feature matching between the most recently acquired image and the set of key images. The overall task is composed of two consecutive phases: a mapping phase and a navigation phase. The mapping phase is an offline learning phase during which the quadrotor is manually moved around the environment by means of a joystick. The drone acquires a sequence of images that will represent the path the quadrotor should follow in the next phase. The navigation phase is accomplished online and it’s composed by an initial localization, a successive localization and the motion control. The quadrotor can start from any initial position in the environment and the initial localization algorithm determines the initial pose of the quadrotor by comparing the first acquired image with all the key images from the prior phase and selecting the two images of the path most similar to the acquired image. The successive localization algorithm is used, during the motion of the quadrotor, to decide when to switch the reference key images. This step is necessary in order to determine the position of the quadrotor during the motion. Finally, the control law is built to minimize the difference between the desired feature value and the current feature value, in order to keep the quadrotor on the defined trajectory.
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Gutiérrez, García José Antonio. "Indoor Localization Based on RadioChannel Parameters in Wireless SensorNetworks." Thesis, KTH, Reglerteknik, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-107744.
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Wireless Sensor Networks are nowadays becoming increasingly popular. Due to their low cost, ease of deployment and application, they oer robust solutions in a variety of elds. In this context, localization is one of the most important functionalities that can be implemented. The analysis of existing antennas that could suit a light, small, and energy-ecient sensor and the analysis and design of localization algorithms have been studied in this work. Indoor localization in a smart home poses certain challenges in comparison with the existing and successfully implemented large scale outdoor localization systems, due to the shadow fading eects and the notable dierences among the indoor environments. This work has focused on localization based on channel parameters estimation and received signal strength. This oers versatility, since no previous knowledge of the indoor environment is required, and cheap deployment. A review of existing methods in this area is oered and two classical and robust approaches, least squares estimation and log-likelihood maximization are combined to obtain new algorithms that can statistically improve the performance in terms of bias and variance of the error. The results of this work can be applied to the development of cheap and robustly optimized algorithms. Furthermore, the analysis of the antennas for this context sets the needs that new lines of future investigation and development of sensor devices can address.
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Vallivaara, I. (Ilari). "Simultaneous localization and mapping using the indoor magnetic field." Doctoral thesis, Oulun yliopisto, 2018. http://urn.fi/urn:isbn:9789526217741.
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Abstract The Earth’s magnetic field (MF) has been used for navigation for centuries. Man-made metallic structures, such as steel reinforcements in buildings, cause local distortions to the Earth’s magnetic field. Up until the recent decade, these distortions have been mostly considered as a source of error in indoor localization, as they interfere with the compass direction. However, as the distortions are temporally stable and spatially distinctive, they provide a unique magnetic landscape that can be used for constructing a map for indoor localization purposes, as noted by recent research in the field. Most approaches rely on manually collecting the magnetic field map, a process that can be both tedious and error-prone. In this thesis, the map is collected by a robotic platform with minimal sensor equipment. It is shown that a mere magnetometer along with odometric information suffices to construct the map via a simultaneous localization and mapping (SLAM) procedure that builds on the Rao-Blackwellized particle filter as means for recursive Bayesian estimation. Furthermore, the maps are shown to achieve decimeter level localization accuracy that combined with the extremely low-cost hardware requirements makes the presented methods very lucrative for domestic robots. In addition, general auxiliary methods for effective sampling and dealing with uncertainties are presented. Although the methods presented here are devised in mobile robotics context, most of them are also applicable to mobile device-based localization, for example, with little modifications. Magnetic field localization offers a promising alternative to WiFi-based methods for achieving GPS-level localization indoors. This is motivated by the rapidly growing indoor location marketTiivistelmä Maan magneettikenttään perustuvat kompassit ovat ohjanneet merenkäyntiä vuosisatojen ajan. Rakennusten metallirakenteet aiheuttavat paikallisia häiriöitä tähän magneettikenttään, minkä vuoksi kompasseja on pidetty epäluotettavina sisätiloissa. Vasta viimeisen vuosikymmenen aikana on huomattu, että koska nämä häiriöt ovat ajallisesti pysyviä ja paikallisesti hyvin erottelevia, niistä voidaan muodostaa jokaiselle rakennukselle yksilöllinen häiriöihin perustuva magneettinen kartta, jota voidaan käyttää sisätiloissa paikantamiseen. Suurin osa tämänhetkisistä magneettikarttojen sovelluksista perustuu kartan käsin keräämiseen, mikä on sekä työlästä että tarjoaa mahdollisuuden inhimillisiin virheisiin. Tämä väitöstutkimus tarttuu ongelmaan laittamalla robotin hoitamaan kartoitustyön ja näyttää, että robotti pystyy itsenäisesti keräämään magneettisen kartan hyödyntäen pelkästään magnetometriä ja renkaiden antamia matkalukemia. Ratkaisu perustuu faktoroituun partikkelisuodattimeen (RBPF), joka approksimoi täsmällistä rekursiivista bayesilaista ratkaisua. Robotin keräämien karttojen tarkkuus mahdollistaa paikannuksen n. 10 senttimetrin tarkkuudella. Vähäisten sensori- ja muiden vaatimusten takia menetelmä soveltuu erityisen hyvin koti- ja parvirobotiikkaan, joissa hinta on usein ratkaiseva tekijä. Tutkimuksessa esitellään lisäksi uusia apumenetelmiä tehokkaaseen näytteistykseen ja epävarmuuden hallintaan. Näiden käyttöala ei rajoitu pelkästään magneettipaikannukseen- ja kartoitukseen. Robotiikan sovellusten lisäksi tutkimusta motivoi voimakkaasti kasvava tarve älylaitteissa toimivalle sisätilapaikannukselle. Tämä avaa uusia mahdollisuuksia paikannukselle ympäristöissä, joissa GPS ei perinteisesti toimi
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Koski, Antti. "Near Optimal Indoor Localization With Coherent Array Reconciliation Tomography." Digital WPI, 2015. https://digitalcommons.wpi.edu/etd-dissertations/29.
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Our increased reliance on localization devices such as GPS navigation has led to an increased demand for localization solutions in all environments, including indoors. Indoor localization has received considerable attention in the last several years for a number of application areas including first responder localization to targeted advertising and social networking. The difficult multipath encountered indoors degrades the performance of RF based localization solutions and so far no optimal solution has been published.
This dissertation presents an algorithm called Coherent Array Reconciliation Tomography (CART), which is a Direct Positioning Algorithm (DPA) that incorporates signal fusion to perform a simultaneous leading edge and position estimate for a superior localization solution in a high multipath environment. The CART algorithm produces position estimates that are near optimal in the sense that they achieve nearly the best theoretical accuracy possible using an Impulse Radio (IR) Ultra-Wideband (UWB) waveform. Several existing algorithms are compared to CART including a traditional two step Leading Edge Detection (LED) algorithm, Singular value Array Reconciliation Tomography (SART), and Transactional Array Reconciliation Tomography (TART) by simulation and experimentation. As shown under heavy simulated multipath conditions, where traditional LED produces a limited solution and the SART and TART algorithms fail, the CART algorithm produces a near statistically optimal solution. Finally, the CART algorithm was also successfully demonstrated experimentally in a laboratory environment by application to the fire fighter homing device that has been a part of the ongoing research at Worcester Polytechnic Institute (WPI).
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Silver, Oscar. "An Indoor Localization System Based on BLE Mesh Network." Thesis, Linköpings universitet, Kommunikationssystem, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-129106.
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Internet of Things (iot) is a growing field enabled by many different technologies. One of these technologies is Bluetooth Low Energy (ble). It is of interest to investigate the potential of ble and one interesting, currently unsupported, feature is mesh networking. This thesis work aims to investigate whether it is possible to design and implement a mesh network protocol using ble. To verify the implemented mesh network protocols functionality an indoor localization system has been implemented upon the BLE mesh network protocol. Furthermore this thesis work investigates if an indoor localization system can benefit from using a mesh network. The results of the investigation is a proof of concept of a functional ble mesh network protocol implemented on hardware and tested in a real environment. Tests show that the implemented localization system has similar accuracy as other rssi based indoor localization systems. The largest advantage found for a mesh based indoor localization is the ability to localize objects outside of the radio propagation range of the user. This feature is enabled by multi-hop messaging in the mesh network.
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Wu, Hongyu. "Multimodal Learning and Single Source WiFi Based Indoor Localization." University of Dayton / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1588098876967656.
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Alsindi, Nayef. "Indoor cooperative localization for ultra wideband wireless sensor networks." Worcester, Mass. : Worcester Polytechnic Institute, 2008. http://www.wpi.edu/Pubs/ETD/Available/etd-042308-115256/.
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Dissertation (Ph.D.)--Worcester Polytechnic Institute.Keywords: Time-of-arrival based ranging, indoor geolocation, cooperative localization, sensor networks, ultra wideband, measurement and modeling, cooperative localization algorithms. Includes bibliographical references (leaves 137-148).
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Kulich, Tim. "Indoor navigation using vision-based localization and augmented reality." Thesis, Uppsala universitet, Institutionen för informationsteknologi, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-391930.
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Implementing an indoor navigation system requires alternative techniques to the GPS. One solution is vision-based localization which takes advantage of visual landmarks and a camera to read the environment and determine positioning. Three computer vision algorithms used for pose estimation are tested and evaluated in this project in order to determine their viability in an indoor navigation system. Two algorithms, SIFT (Scale-Invariant Feature Transform) and SURF (Speeded-Up Robust Features), take advantage of the natural features in an image, whereas the third algorithm, ArUco, uses a manufactured marker. The evaluation displayed certain advantages for all solutions, however with the goal of using it for a navigation system ArUco was the superior solution as it performed well for key criteria, mainly computational performance and range of detection. An indoor navigation system for Android devices was developed using ArUco marker tracking for positioning and augmented reality for pro- jecting the route. The application was able to successfully fulfill its goal of providing route guidance to a specific target location.
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Awarkeh, Nour. "2D indoor localization system with an UWB multistatic radar." Electronic Thesis or Diss., Université Paris-Saclay (ComUE), 2019. http://www.theses.fr/2019SACLT041.
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De nos jours, la capacité de suivre des objets et des personnes est cruciale pour un grand nombre d’applications, telles que les applications médicales (surveillance de patients) ou les applications indépendantes qui nécessitent une très grande précision et résolution dans le processus de positionnement. Par conséquent, l’objectif scientifique principal de cette thèse est de développer un système de suivi utilisant un système de radar multistatique UWB pour fournir une localisation 2D en temps réel de transpondeurs ou de balises actives. La localisation est réalisée en coordonnées polaires (distance et angle d’azimut) en fusionnant les principes d’interférométrie et de goniométrie, en supposant un canal de propagation à trajet direct, ou LoS entre la station et la cible. L’ILS conçu utilise une technique hybride en combinant les méthodes duplex UWB et de corrélation de phase pour les estimations de la distance radiale et de l’angle d’Azimut. L’ILS proposé comprend deux composants principaux, une station émettrice/réceptrice servant de LBS et un AT. Le LBS a une chaîne d’émission et deux chaînes de réception identiques et indépendantes. La localisation est effectuée en envoyant des impulsions UWB vers l’AT qui joue le rôle de transpondeur actif et retransmet le signal reçu¸ à son tour au LBS après l’avoir retardé. Cet ILS conçu¸ devrait offrir, dans les conditions LoS, une estimation de position avec une précision et une résolution élevées, tout en maintenant une faible complexité du système. Le système fonctionne avec une seule ancre et répond simultanément aux défis intérieurs tels que les trajets multiples, les fortes atténuations de signal, les réflexions, etcNowadays, the ability to track objects and people is crucial for a huge number of applications, such as medical applications (monitoring of patients) or independent applications that require a very high accuracy and resolution in the positioning process. Therefore, the main scientific objective of this thesis is to develop a tracking system using an UWB multistatic radar system to provide realtime 2D location of transponders or active tags. The localization is carried out in polar coordinates (distance and azimuth angle) by merging the interferometry and goniometry principles, assuming a propagation channel with a direct path, or LoS between the station and the target. The designed ILS incorporates a hybrid technique by combining the duplex UWB and the Phase Correlation methods for the radial-distance and the azimuth angle estimates. The proposed ILS consists of two main components, a transmitter /receiver (transceiver) station serving as a LBS and an AT. The LBS has one transmitting channel and two identical and independent receiving channels. The localization is performed by sending UWB pulses towards the AT which acts as an active transponder and retransmits in turn the received signal back to the LBS upon delaying it. This designed ILS is expected to offer, under LoS conditions, a position estimation with high accuracy and resolution while maintaining low system complexity. The system works with a single anchor, and simultaneously addresses indoor challenges such as multipaths, strong signal attenuations, reflections, etc
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Hatami, Ahmad. "Application of channel modeling for indoor localization using TOA and RSS." Link to electronic thesis, 2006. http://www.wpi.edu/Pubs/ETD/Available/etd-053106-160141/.
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Moutinho, João Neves. "Indoor Sound Based Localization." Doctoral thesis, 2016. https://hdl.handle.net/10216/102449.
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Moutinho, João Neves. "Indoor Sound Based Localization." Tese, 2016. https://hdl.handle.net/10216/102449.
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Ye, Ruiqing. "Ultra-wideband indoor localization systems." Thesis, 2012. http://hdl.handle.net/1957/30349.
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Indoor localization systems have a variety of applications such as tracking
of assets, indoor robot navigation, and monitoring of people (e.g. patients) in
hospitals or at home. Global positioning system (GPS) offers location accuracy
of several meters and is mainly used for outdoor location-based applications as its
accuracy degrades significantly in indoor scenarios. Wireless local area networks
(WLAN) have also been used for indoor localization, but the accuracy is too low
and power consumption of WLAN terminals is too high for most applications.
Ultra-wideband (UWB) localization is superior in terms of accuracy and power
consumption compared with GPS and WLAN localization, and is thus more
suitable for most indoor location-based applications [1-4].
The accuracy and precision requirements of localization systems depend on
the specific characteristics of the applications. For example, centimeter or even
millimeter localization accuracy is required for dynamic part tracking, while
decimeter accuracy might be sufficient for tracking patients in hospitals or at
home. Note that accuracy is not the only aspect of the overall performance of the
system. Factors such as cost, range, and complexity should also be considered
in system design.
In the first part of this dissertation, a centimeter-accurate UWB localization
system is developed. The technical challenges to achieve centimeter localization
accuracy are investigated. Since all the receivers are synchronized through
wire connection in this system, a wireless localization system with centimeter
accuracy is introduced in order to make the system easier for deployment. A
two-step synchronization algorithm with picosecond accuracy is presented, and
the system is tested in a laboratory environment.
The second part of this dissertation focuses on reducing the complexity of
UWB localization systems when the localization accuracy requirement is relaxed.
An UWB three-dimensional localization scheme with a single cluster of
receivers is proposed. This scheme employs the time-of-arrival (TOA) technique
and requires no wireless synchronization among the receivers. A hardware and
software prototype that works in the 3.1-5.1 GHz range is constructed and tested
in a laboratory environment. An average position estimation error of less than
3 decimeter is achieved by the experimental system.
This TOA scheme with receivers in a single unit requires synchronization
between the transmitter and the receiver unit. In order to further reduce system
complexity, a new time-difference-of-arrival localization scheme is proposed.
This scheme requires multiple units, each operating on its own clock. It avoids
synchronization between the transmitter and receivers, and thus makes the development
of the transmitter extremely simple. The performance of this system
is simulated and analyzed analytically, and turns out to be satisfactory for most
indoor localization applications.Graduation date: 2013
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Obeidat, Huthaifa A. N., Raed A. Abd-Alhameed, James M. Noras, Shaozhen (Sharon) Zhu, Tahereh S. Ghazaany, N. T. Ali, and Elmahdi A. Elkhazmi. "Indoor localization using received signal strength." 2013. http://hdl.handle.net/10454/9702.
Full textAbstract:
NoA comparison between two indoor localization algorithms using received signal strength is carried out. The first algorithm is the vector algorithm; the second is the matrix algorithm. The comparison considered the effects of the reference points, the access point, and the frequency on the accuracy of the localization process. The experiments were carried out using ray tracing software and MATLAB. This paper justifies the use of adopting the matrix algorithm.
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Pan, Shi-Huang, and 潘思黃. "Indoor Localization for Wireless Sensor Networks." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/57645601907867943586.
Full textAbstract:
碩士國立中正大學
電機工程所
93
Knowing the position of mobile user is an important role for location services in the building. The characteristics of wireless sensor network are low power, low cost and low complexity. With these functions, wireless sensor network have great potential to develop indoor position system. However, radio signal propagation is easily affected by obstacles that cause diffraction, reflections, scattering and multi-path in the building, the received signal strength needs good calibration method to improve the accuracy of position estimation system. In this thesis we describe grey prediction based location method in wireless sensor network and employ wireless LAN medium (Zigbee/802.15.4). The grey prediction is used to predict the tendency of RSSI (received signal strength indicator), and we also designed dynamic triangular (DTN) location method. We have done some experiments and compare with other classical location methods. The mean distant error of RSSI on mobile user can be within 2.3m at off line stage. As a result, grey predication with DTN provides more accurate predicted position and carries out mean distance error within 1.5 m at run-time stage. At last we implement the indoor navigation system, the main objective of this system is to help mobile user know his location in indoor environment. We integrate the grey prediction and DTN location algorithm in this system and add the map-matching algorithm to improve the accuracy of this system.
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Wang, Chu-Hsuan, and 王楚軒. "Robust indoor localization using histogram equalization." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/5vkxfq.
Full textAbstract:
博士元智大學
電機工程學系
104
Indoor positioning systems have received increasing attention for supporting locationbased services in indoor environments. Received Signal Strength (RSS), mostly utilized ngerprinting systems in Wi-Fi, is known to be unreliable due to environmental and hardware eects. The PHY layer information about channel quality known as Channel State Information (CSI) can be used due to its frequency diversity (OFDM sub-carriers) and spatial diversity (multiple antennas). The extension of CSI dimensions causes over-tting should be considered. This paper proposes two approaches based on histogram equalization (HEQ) and information theoretic learning (ITL) to compensate for hardware variation, orientation mismatch and over-tting problems in robust localization system. The proposed method involves converting the temporal{spatial radio signal strength into a reference function (i.e., equalizing the histogram). This paper makes two principal contributions: First, the equalized RF signal is capable of improving the robustness of location estimation, and second, ITL greater discriminative components provides increased exibility in determining the number of required components and achieves better computational eciency.
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Pei-YuChang and 張培鈺. "Indoor Localization System: Single-Microphone Approach." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/8hqrgg.
Full textAbstract:
碩士國立成功大學
系統及船舶機電工程學系
104
Three microphone-based indoor localization designs developed by combining novel estimation designs and tag sound sources, which are with distinct frequencies, are proposed in this thesis. From the experiments in practice, results summarized a key point for achieving a satisfactory indoor localization: an accurate estimation of the instantaneous sound pressure level (SPL) that is inevitably affected by the random variation of environmental corruptions dominated the indoor localization performance. Based on this concept, three algorithms including Kalman filter based design, H2 estimation design, and H∞ estimation design which accompany with a sound pressure level model are developed for effectively mitigating the effects of received signal strength (RSS) variations due to the reverberation, the reflection, refraction and so on. From the simulation results and practical experiments, it is obvious that these proposed methods deliver really promising localization performance even under heavy environmental corruptions. The physical characteristics of the proposed methods include: 1.High indoor localization accuracy, 2.Robustness to complicated and unpredictable environmental corruptions, and 3.Low cost designs.
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Taso, Chao-Ming, and 曹家銘. "Indoor Localization of a Clean Robot." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/69633863957552504012.
Full textAbstract:
碩士北台灣科學技術學院
機電整合研究所
97
The indoor clean robot must have the ability to localize itself in the moving environment, in order to reach various kinds of practical applications. The purpose of this thesis is to study how to utilize the StarGazer infrared ray detecting device's as an indoor localization system for the clean robot in developing various applications. The clean robot’s research and development abroad already had many years experiences, for instance: V4 intelligent clean robot of Australia Floor Botics Company, the Sweden Electrolux Company’s trilobite clean robot and Roomba clean robot the product of U.S.A. iRobot Company etc. All these are achievement in research and develop of the clean robot for recent years and have the functions of obstacle evading, charging as well as the clean function automatically, but with the shortcoming of no ability to localize itself indoor, neither to know the correct position of the clean robot. We develop an indoor localization system which uses StarGazer infrared ray detecting device as the key component. By setting up the infrared ray reflecting land mark indoors at first, then the StarGazer infrared ray detecting device reads the image reflected from the land mark and analysis the received image to computes the position. In the research, we integrate the StarGazer infrared ray detecting device with the clean robot by using Arduino controller board with ATmega chip to read the position data that StarGazer sends, and to carry out the localization function.
43
Yang, Chin-Hsiang, and 楊欽翔. "Indoor Localization for Wireless Sensor Networks." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/08005783155133935206.
Full textAbstract:
碩士國立臺灣大學
電信工程學研究所
95
Localization is an important topic in wireless sensor networks because lots of the applications need this information to perform normally, such as a surveillance system, a light control system, or a fire alarm system. One of the biggest problems in indoor localization is the complex propagation characteristics of the indoor environment. We find that most of the current works solve this by giving lots of prior-knowledge to some specific nodes in the network. Although in this way we can get a very accurate localization result, this kind of schemes needs lots of efforts to make the algorithm perform well. In this work, we propose an indoor localization algorithm for wireless sensor networks which needs few prior-knowledge. It uses the characteristics of the obstructions in the environment to group nodes in the network. Sensor nodes first locally calculate their position, and then we combine each group together and get good localization accuracy. In this work, we use C language to write the whole simulation. We observe the performance of the algorithm in different noise power and compare to other indoor localization algorithms. We also try to explain the limitation of the algorithm and the performance of it in some special cases.
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Chen, Zhi-Liang, and 陳致良. "Depth Camera - Assisted Indoor Localization Enhancement." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/88236027504172742228.
Full textAbstract:
碩士國立臺灣科技大學
資訊工程系
101
This paper develops an approach for image triangulation from point cloud. This approach can be divided into three parts: reconstructing environment, virtual images database establishment and triangulation. During constructing virtual images database, we can acquire extra localization information which traditional image localization lacks. When camera is far from scene or camera is sheltered by objects, traditional SIFT localization may decrease the accuracy. Our approach provides higher localization accuracy and coverage ratio by choosing better camera angles and positions automatically. In experiments, we take practical localization by traditional SIFT localization and virtual images triangulation to compare result.
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Yang, Chin-Hsiang. "Indoor Localization for Wireless Sensor Networks." 2007. http://www.cetd.com.tw/ec/thesisdetail.aspx?etdun=U0001-1408200722493000.
Full text
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Patel, Amar H. "Indoor localization in wireless sensor networks." 2008. http://hdl.rutgers.edu/1782.2/rucore10001600001.ETD.17547.
Full text
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Chiu, Cheng-Ming, and 邱政銘. "BIM-Vision-Based Indoor Localization Prototype." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/48263014917448233221.
Full textAbstract:
碩士淡江大學
土木工程學系碩士班
100
Purpose In order to provide an economical indoor location detective technique, this study is aimed to use photo images as the indoor spatial identification tags associated with the spatial information of the existing building information model (BIM), so that users can identify their locations via the camera on mobile device based on the real images. Method Unlike the wireless and RFID-based indoor positioning techniques, this study applied the image recognition technique to indoor location detection. Prototype architecture includes three functional modules, namely, (1) Spatial image database, (2) spatial image management module, and (3) vision-based localization module are developed. The spatial image database is the data collection of space related data from the IFC (Industry Foundation Classes) dataset of the existing BIM and space feature image data collected form users. The spatial image management module provides users an interface to collect the spatial photo images of buildings, and bind them with the location data from the spatial image database. Then, the vision-based localization module developed based on the D’fusion studio can identify the space location by recognizing the images from the vision captured with the camera on a smart phone, and the corresponding spatial data can be retrieved from the database. Results & Discussion The BIM-Vision-Based indoor localization prototype was developed as an android platform application running on the mobile device with imbedded camera such as smart phones and tablets. Technique feasibility is continuously tested in current phase. According to the basic test results, the prototype can identify the indoor locations of decorated spaces; however, once the indoor spaces are lack of recognition features, such as the empty spaces with blank and monotony walls, the recognition function failed. To overcome this defect, the Quick Response (QR) code, the trademark for a type of two-dimensional code, is used as a substitution of the photos for this prototype. Besides, since the location data is transferred from the existing building information model, the data consistency can be ensured. In the future, the economic feasibility of this prototype would be analyzed to evaluate the cost and benefit ration.
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Wang, Hung-Chih, and 王鴻志. "Integration of GPS and Wireless Localization Sensors for Indoor Localization Tracking." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/10021150925863426554.
Full textAbstract:
碩士淡江大學
資訊工程學系碩士班
99
In recent years, for the prevailing of WSNs, the function of Localization tracking had widely in environmental observation. Such as: military, mining, personnel monitoring ... and so on. The equipment used in the thesis is IEEE802.15.4/Zigbee of module which is low-power and low cost. By using the RSSI localization algorithm, user can know the localization of all the Nodes. In this thesis, using GPS to get the latitude and longitude coordinates and translate to the format of coordinates of Zigbee. It will automatically update the reference node, as a reference coordinate of blind node, users can know the coordinates of all existing nodes. In this thesis, we find a better position layout of the reference nodes, so blind node calculate the better accurate coordinate. We proposed two methods to expand the utilized range and can also be used for emergency system.
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CHANG, WEI-CHI, and 張瑋池. "Unsupervised radio map learning for indoor localization." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/60606724026641073511.
Full textAbstract:
碩士國立中正大學
電機工程研究所
105
For radio-based indoor localization, the approaches founded on the radio fingerprint concept are efficient duo to low cost and the ability to handle occlusion effects. However, the approaches require a lot of human labor to label training data for radio map (fingerprint) construction. To address this issue, in this paper, we proposed an unsupervised framework to learn a Wi-Fi radio map in an indoor environment. Unlike conventional approaches that depend on a simulated radio map or a prior radio propagation model to reduce human efforts, our method uses Wi-Fi and IMU signals collecting by crowdsourcing to build a robust radio map automatically. More concretely, four types of constraints are fused by the proposed radio map optimization procedure. They include the alignment of Wi-Fi landmarks, the displacement constraint, the manifold-based smooth constraint, and the inter-trajectory constraints. Our experiment results also show the effectiveness of the unsupervised radio map.
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Chen, Chin-Yu, and 陳慶宇. "A Signal-Stabilized Algorithm for Indoor Localization." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/46224656846690881310.
Full textAbstract:
碩士國立臺灣科技大學
電子工程系
104
As the rapid development of wireless internet network in recently years, a variety of positioning system has been proposed. Nowadays, indoor environment is widely covered with Wi-Fi networks. As a result of the existing infrastructures, Wi-Fi is low cost and implement easily. Many people devote themselves to Wi-Fi indoor positioning systems(IPSs) and techniques based on received signal strength(RSS) measurement from Wi-Fi access points. Comparing with outdoor, indoor environments are more complex. There are various obstacles, for example, walls, equipment, human beings, influencing the received signal strength values. Therefore, this paper proposes a stable algorithm to deal with RSSI so that signals can be located within a stable range. It can improve the accuracy and precision of positioning by using stable signal indoor positioning algorithm. In off-line stage, this paper proposes a stable signal algorithm and a method to distribute the training nodes. This aims is to remove the RSSI noise and provide the more precise indoor positioning algorithm. The experiments show that the proposed method in this paper can remove RSSI signal noise, Signal can be located within a stable range, so it can provide a stable off-line environments for indoor positioning algorithm.