scholarly journals Kalman Filter-Based Indoor Position Tracking with Self-Calibration for RSS Variation Mitigation

2015 ◽  
Vol 11 (8) ◽  
pp. 674635 ◽  
Author(s):  
Sangwoo Lee ◽  
Bongkwan Cho ◽  
Bonhyun Koo ◽  
Sanghwan Ryu ◽  
Jaehoon Choi ◽  
...  
Keyword(s):  
Kalman Filter ◽  
Position Tracking ◽  
Self Calibration ◽  
Indoor Position Tracking

scholarly journals Global Systems for Mobile Position Tracking Using Kalman and Lainiotis Filters

2014 ◽  
Vol 2014 ◽  
pp. 1-8 ◽  
Author(s):  
Nicholas Assimakis ◽  
Maria Adam
Keyword(s):  
Kalman Filter ◽  
Steady State ◽  
Impulse Response ◽  
Finite Impulse Response ◽  
Position Tracking ◽  
Computational Burden ◽  
Time Invariant ◽  
Global Systems

We present two time invariant models for Global Systems for Mobile (GSM) position tracking, which describe the movement inx-axis andy-axis simultaneously or separately. We present the time invariant filters as well as the steady state filters: the classical Kalman filter and Lainiotis Filter and the Join Kalman Lainiotis Filter, which consists of the parallel usage of the two classical filters. Various implementations are proposed and compared with respect to their behavior and to their computational burden: all time invariant and steady state filters have the same behavior using both proposed models but have different computational burden. Finally, we propose a Finite Impulse Response (FIR) implementation of the Steady State Kalman, and Lainiotis filters, which does not require previous estimations but requires a well-defined set of previous measurements.

scholarly journals Extended Kalman Filter (EKF) Design for Vehicle Position Tracking Using Reliability Function of Radar and Lidar

Sensors ◽  
2020 ◽  
Vol 20 (15) ◽  
pp. 4126 ◽  
Author(s):  
Taeklim Kim ◽  
Tae-Hyoung Park
Keyword(s):  
Kalman Filter ◽  
Sensor Fusion ◽  
Extended Kalman Filter ◽  
Reliability Function ◽  
Position Estimation ◽  
Position Tracking ◽  
Radar Sensors ◽  
Vehicle Position ◽  
Sensor Errors ◽  
Fuzzy Adaptive

Detection and distance measurement using sensors is not always accurate. Sensor fusion makes up for this shortcoming by reducing inaccuracies. This study, therefore, proposes an extended Kalman filter (EKF) that reflects the distance characteristics of lidar and radar sensors. The sensor characteristics of the lidar and radar over distance were analyzed, and a reliability function was designed to extend the Kalman filter to reflect distance characteristics. The accuracy of position estimation was improved by identifying the sensor errors according to distance. Experiments were conducted using real vehicles, and a comparative experiment was done combining sensor fusion using a fuzzy, adaptive measure noise and Kalman filter. Experimental results showed that the study’s method produced accurate distance estimations.

scholarly journals IMU-Based Online Kinematic Calibration of Robot Manipulator

2013 ◽  
Vol 2013 ◽  
pp. 1-10 ◽  
Author(s):  
Guanglong Du ◽  
Ping Zhang
Keyword(s):  
Kalman Filter ◽  
Robot Manipulator ◽  
Experimental Studies ◽  
Estimation Method ◽  
Kinematic Parameter ◽  
Corner Detection ◽  
Measurement Unit ◽  
Robot Calibration ◽  
Self Calibration ◽  
Calibration Methods

Robot calibration is a useful diagnostic method for improving the positioning accuracy in robot production and maintenance. An online robot self-calibration method based on inertial measurement unit (IMU) is presented in this paper. The method requires that the IMU is rigidly attached to the robot manipulator, which makes it possible to obtain the orientation of the manipulator with the orientation of the IMU in real time. This paper proposed an efficient approach which incorporates Factored Quaternion Algorithm (FQA) and Kalman Filter (KF) to estimate the orientation of the IMU. Then, an Extended Kalman Filter (EKF) is used to estimate kinematic parameter errors. Using this proposed orientation estimation method will result in improved reliability and accuracy in determining the orientation of the manipulator. Compared with the existing vision-based self-calibration methods, the great advantage of this method is that it does not need the complex steps, such as camera calibration, images capture, and corner detection, which make the robot calibration procedure more autonomous in a dynamic manufacturing environment. Experimental studies on a GOOGOL GRB3016 robot show that this method has better accuracy, convenience, and effectiveness than vision-based methods.

scholarly journals Discovering Influential Positions in RFID-Based Indoor Tracking Data

Information ◽  
2020 ◽  
Vol 11 (6) ◽  
pp. 330
Author(s):  
Ye Jin ◽  
Lizhen Cui
Keyword(s):  
Moving Objects ◽  
Indoor Localization ◽  
Rapid Development ◽  
Shopping Mall ◽  
Position Tracking ◽  
Tracking Data ◽  
H Index ◽  
Indoor Space ◽  
Indoor Tracking ◽  
Indoor Position Tracking

The rapid development of indoor localization techniques such as Wi-Fi and RFID makes it possible to obtain users’ position-tracking data in indoor space. Indoor position-tracking data, also known as indoor moving trajectories, offer many new opportunities to mine decision-making knowledge. In this paper, we study the detection of highly influential positions from indoor position-tracking data, e.g., to detect highly influential positions in a business center, or to detect the hottest shops in a shopping mall according to users’ indoor position-tracking data. We first describe three baseline solutions to this problem, which are count-based, density-based, and duration-based algorithms. Then, motivated by the H-index for evaluating the influence of an author or a journal in academia, we propose a new algorithm called H-Count, which evaluates the influence of an indoor position similarly to the H-index. We further present an improvement of the H-Count by taking a filtering step to remove unqualified position-tracking records. This is based on the observation that many visits to a position such as a gate are meaningless for the detection of influential indoor positions. Finally, we simulate 100 moving objects in a real building deployed with 94 RFID readers over 30 days to generate 223,564 indoor moving trajectories, and conduct experiments to compare our proposed H-Count and H-Count* with three baseline algorithms. The results show that H-Count outperforms all baselines and H-Count* can further improve the F-measure of the H-Count by 113% on average.

scholarly journals One time‐step particle smoothing for radio range‐based indoor position tracking

2020 ◽  
Vol 56 (7) ◽  
pp. 360-362 ◽  
Author(s):  
Yuan Yang ◽  
Huaming Wu ◽  
Peng Dai ◽  
Bo Zhang
Keyword(s):  
Position Tracking ◽  
Time Step ◽  
Radio Range ◽  
Indoor Position Tracking

Indoor Position Tracking Using Multiple Optical Receivers

2016 ◽  
Vol 34 (4) ◽  
pp. 1166-1176 ◽  
Author(s):  
Muhammad Yasir ◽  
Siu-Wai Ho ◽  
Badri N. Vellambi
Keyword(s):  
Position Tracking ◽  
Optical Receivers ◽  
Indoor Position Tracking
Sign in / Sign up

Export Citation Format

Share Document