scholarly journals UWB-Based Self-Localization Strategies: A Novel ICP-Based Method and a Comparative Assessment for Noisy-Ranges-Prone Environments

Sensors ◽  
2020 ◽  
Vol 20 (19) ◽  
pp. 5613
Author(s):  
Francisco Bonnin-Pascual ◽  
Alberto Ortiz
Keyword(s):  
Real Option ◽  
Signal Transmission ◽  
Wide Band ◽  
Position Estimation ◽  
Metallic Structures ◽  
Positioning Systems ◽  
Estimation Algorithms ◽  
Novel Method ◽  
Generic Agents ◽  
Performance Results

Ultra-Wide-Band (UWB) positioning systems are now a real option to estimate the position of generic agents (e.g., robots) within indoor/GPS-denied environments. However, these environments can comprise metallic structures or other elements which can negatively affect the signal transmission and hence the accuracy of UWB-based position estimations. Regarding this fact, this paper proposes a novel method based on point-to-sphere ICP (Iterative Closest Point) to determine the 3D position of a UWB tag. In order to improve the results in noise-prone environments, our method first selects the anchors’ subset which provides the position estimate with least uncertainty (i.e., largest agreement) in our approach. Furthermore, we propose a previous stage to filter the anchor-tag distances used as input of the ICP stage. We also consider the addition of a final step based on non-linear Kalman Filtering to improve the position estimates. Performance results for several configurations of our approach are reported in the experimental results section, including a comparison with the performance of other position-estimation algorithms based on trilateration. The experimental evaluation under laboratory conditions and inside the cargo hold of a vessel (i.e., a noise-prone scenario) proves the good performance of the ICP-based algorithm, as well as the effects induced by the prior and posterior filtering stages.

scholarly journals Joint clock synchronization and position estimation in time of arrival–based passive positioning systems

2018 ◽  
Vol 14 (11) ◽  
pp. 155014771878689 ◽  
Author(s):  
Shenghong Li ◽  
Lingyun Lu ◽  
Mark Hedley ◽  
David Humphrey ◽  
Iain B Collings
Keyword(s):  
Clock Synchronization ◽  
Likelihood Estimation ◽  
Least Square Method ◽  
Position Estimation ◽  
Least Square ◽  
Time Of Arrival ◽  
Positioning Systems ◽  
Reference Node ◽  
Localization Scheme ◽  
Wireless Signal

A widely used scheme for target localization is to measure the time of arrival of a wireless signal emitted by a tag, which requires the clocks of the anchors (receivers at known locations) to be accurately synchronized. Conventional systems rely on transmissions from a timing reference node at a known location for clock synchronization and therefore are susceptible to reference node failure. In this article, we propose a novel localization scheme which jointly estimates anchor clock offsets and target positions. The system does not require timing reference nodes and is completely passive (non-intrusive). The positioning algorithm is formulated as a maximum likelihood estimation problem, which is solved efficiently using an iterative linear least square method. The Cramér–Rao lower bound of positioning error is also analyzed. It is shown that the performance of the proposed scheme improves with the number of targets in the system and approaches that of a system with perfectly synchronized anchors.

scholarly journals The Autonomous Pinger Unit of the Acoustic Navigation Network in EnEx-RANGE: an autonomous in-ice melting probe with acoustic instrumentation

2020 ◽  
pp. 1-10
Author(s):  
Lars Steffen Weinstock ◽  
Simon Zierke ◽  
Dmitry Eliseev ◽  
Peter Linder ◽  
Cornelius Vollbrecht ◽  
...  
Keyword(s):  
Internal State ◽  
Field Tests ◽  
Space Mission ◽  
Position Estimation ◽  
Guidance System ◽  
Point Of Interest ◽  
Spatially Distributed ◽  
Acoustic Navigation ◽  
On Chip ◽  
Performance Results

Abstract The Autonomous Pinger Unit (APU) is an electro-thermal drill with acoustic instrumentation developed for the project EnEx-RANGE in view of a future space mission for the sub-surface exploration of Saturn's moon Enceladus. A main goal is the development of navigation technology for an acoustic guidance system allowing maneuvering a probe through glacial ice. In total 13 APUs were built and tested in terrestrial analog scenarios on alpine glaciers. The APUs form a spatially distributed network that defines a system of reference for the navigation of the maneuverable probe to a point of interest. The APUs have a novel melting head, slow control systems, and a modern system-on-chip (SoC) module that controls the probe and processes the recorded data. The APUs use acoustic emitters and receivers to measure the transit time of acoustic signals between them, allowing for the position reconstruction of all APUs by trilateration. Several auxiliary sensors monitor the internal state of the probe and assist the position estimation. With this instrumentation, the APUs have the ability of dynamically optimizing themselves within the network by changing their position. This paper gives an overview of the developed APU hardware and presents performance results from the field tests.

scholarly journals Improving the Performance of Dynamic Ship Positioning Systems: A Review of Filtering and Estimation Techniques

2020 ◽  
Vol 8 (4) ◽  
pp. 234 ◽  
Author(s):  
Denis Selimović ◽  
Jonatan Lerga ◽  
Jasna Prpić-Oršić ◽  
Sasa Kenji
Keyword(s):  
State Of The Art ◽  
Estimation Procedure ◽  
Error Variance ◽  
Positioning Systems ◽  
Estimation Algorithms ◽  
Control Signals ◽  
Complex Control System ◽  
Positioning Technique ◽  
Directional Wave ◽  
Estimation And Filtering

Various operations at sea, such as maintaining a constant ship position and direction, require a complex control system. Under such conditions, the ship needs an efficient positioning technique. Dynamic positioning (DP) systems provide such an application with a combination of the actuators mechanism, analyses of crucial ship variables, and environmental conditions. The natural forces of induced nonlinear waves acting on a ship’s hull interfere with the systems. To generate control signals for actuators accurately, sensor measurements should be filtered and processed. Furthermore, for safe and green routing, the forces and moments acting on the ship’s hull should be taken into account in terms of their prediction. Thus, the design of such systems takes into account the problem of obtaining data about the directional wave spectra (DWS). Sensor systems individually cannot provide high accuracy and reliability, so their measurements need to be combined and complemented. Techniques based on the recursive Kalman filter (KF) are used for this purpose. When some measurements are unavailable, the estimation procedure should predict them and, based on the comparison of theoretical and measured states, reduce the error variance of the analyzed signals. Different approaches for improving estimation algorithms have evolved over the years with the indication of improvement. This paper gives an overview of the state-of-the-art estimation and filtering techniques for providing optimum estimation states in DP systems.

scholarly journals Wide-Band High-Gain DGS Antenna System for Indoor Robot Positioning

2019 ◽  
Vol 2019 ◽  
pp. 1-10 ◽  
Author(s):  
Lu Bai ◽  
Chenglie Du
Keyword(s):  
Antenna Array ◽  
Mutual Coupling ◽  
Wide Band ◽  
High Gain ◽  
Antenna System ◽  
Fusion Technology ◽  
Positioning Systems ◽  
Signal Fusion ◽  
Wireless Signal ◽  
Robot Positioning

Based on multisource wireless signal fusion technology, the autonomous positioning systems of robots have been widely employed. How to design a compact compostable antenna array for indoor robot positioning is still a problem. In this study, we proposed a compact ultrathin antenna unit that effectively reduces the mutual coupling between any adjacent units, while covering most of the existing communication bands, including 2G/3G/4G/Wi-Fi, which will greatly reduce the size of the positioning antenna array. The proposed antenna system has been employed for positioning purpose with high-gain, wide-frequency band and limited size. It necessarily improves the accuracy of positioning signal from various unknown sources and finally accomplishes its autonomous positioning function.

Chaotic Synchronization in Ultra-Wide-Band Communication and Positioning Systems

2008 ◽  
Vol 130 (1) ◽  
Author(s):  
J. C. Chedjou ◽  
K. Kyamakya ◽  
W. Mathis ◽  
I. Moussa ◽  
A. Fomethe ◽  
...  
Keyword(s):  
Phase Synchronization ◽  
Coupled System ◽  
Wide Band ◽  
Ultra Wide Band ◽  
Analog Simulation ◽  
Positioning Systems ◽  
High Frequencies ◽  
Coupling Parameters ◽  
Very High Frequencies ◽  
Very High

This paper investigates synchronization transitions in a system of coupled Rössler type nonidentical self-sustained chaotic oscillators. The interest in Rössler oscillators is due to their chaotic behavior at very high frequencies. Both phase synchronization and lag synchronization are analyzed numerically considering coupling parameters. It is shown that both types of synchronization can be achieved by monitoring the coupling parameters. The advantage of using one parameter to ensure both types of synchronization is found in practice. Another advantage of monitoring only one resistor is found in the accuracy of results. One resistor is used to predict the boundaries of the control resistor for the occurrence of each type of synchronization. An experimental study of the synchronization is carried out in this paper. An appropriate electronic circuit describing the coupled oscillators is designed and realized. Experimental wave forms in the drive and response systems are obtained and their comparison done to confirm the achievement of synchronization. The analog simulation is advantageous to analyze the behavior of the coupled system at very high frequencies at appropriate time scaling and offers the possibility of using our coupled system for ultra-wide-band applications.

Fault Location of Transmission Line Based on Discrete Wavelet Transforms

2011 ◽  
Vol 121-126 ◽  
pp. 1269-1273
Author(s):  
Wen Xiu Tang ◽  
Mo Zhang ◽  
Ying Liu ◽  
Xu Fei Lang ◽  
Liang Kuan Zhu
Keyword(s):  
Transmission Line ◽  
Transmission Lines ◽  
Wavelet Transforms ◽  
Fault Location ◽  
Short Circuit ◽  
Signal Transmission ◽  
Transient Signal ◽  
Discrete Wavelet ◽  
Novel Method ◽  
Non Stationary Signal

In this paper, a novel method is investigated to detect short-circuit fault signal transmission lines in strong noise environment based on discrete wavelet transform theory. Simulation results show that the method can accurately determine the fault position, can effectively analyze the non-stationary signal and be suitable for transmission line fault occurred after transient signal detection. Furthermore, it can effectively eliminate noise effects of fault signal so as to realize the transmission lines of accurate fault.

scholarly journals Spacecraft Formation Orbit Estimation Using WLPS-Based Localization

2011 ◽  
Vol 2011 ◽  
pp. 1-12 ◽  
Author(s):  
Shu Ting Goh ◽  
Ossama Abdelkhalik ◽  
Seyed A. (Reza) Zekavat
Keyword(s):  
Antenna Arrays ◽  
High Performance ◽  
Signal Transmission ◽  
Base Station ◽  
Position Estimation ◽  
Absolute Position ◽  
Coverage Area ◽  
Spacecraft Formation ◽  
Spacecraft Formation Flying ◽  
Local Positioning System

This paper studies the implementation of a novel wireless local positioning system (WLPS) for spacecraft formation flying to maintain high-performance spacecraft relative and absolute position estimation. A WLPS equipped with antenna arrays allows each spacecraft to measure the relative range and coordinate angle(s) of other spacecraft located in its coverage area. The dynamic base station and the transponder of WLPS enable spacecraft to localize each other in the formation. Because the signal travels roundtrip in WLPS, and due to the high spacecraft velocities, the signal transmission time delay reduces the localization performance. This work studies spacecraft formation positions estimation performance assuming that only WLPS is available onboard. The feasibility of estimating the spacecraft absolute position using only one-dimensional antenna array is also investigated. The effect of including GPS measurements in addition to WLPS is studied and compared to a GPS standalone system.

scholarly journals INDOOR NAVIGATION AND MAPPING: PERFORMANCE ANALYSIS OF UWB-BASED PLATFORM POSITIONING

2020 ◽  
Vol XLIII-B1-2020 ◽  
pp. 549-555
Author(s):  
A. Masiero ◽  
H. Perakis ◽  
J. Gabela ◽  
C. Toth ◽  
V. Gikas ◽  
...  
Keyword(s):  
Wide Band ◽  
Indoor Navigation ◽  
Operating Conditions ◽  
Navigation Systems ◽  
Positioning Systems ◽  
Localization And Mapping ◽  
Wide Range ◽  
Increasing Demand ◽  
Slam Algorithm ◽  
Tof Camera

Abstract. The increasing demand for reliable indoor navigation systems is leading the research community to investigate various approaches to obtain effective solutions usable with mobile devices. Among the recently proposed strategies, Ultra-Wide Band (UWB) positioning systems are worth to be mentioned because of their good performance in a wide range of operating conditions. However, such performance can be significantly degraded by large UWB range errors; mostly, due to non-line-of-sight (NLOS) measurements. This paper considers the integration of UWB with vision to support navigation and mapping applications. In particular, this work compares positioning results obtained with a simultaneous localization and mapping (SLAM) algorithm, exploiting a standard and a Time-of-Flight (ToF) camera, with those obtained with UWB, and then with the integration of UWB and vision. For the latter, a deep learning-based recognition approach was developed to detect UWB devices in camera frames. Such information is both introduced in the navigation algorithm and used to detect NLOS UWB measurements. The integration of this information allowed a 20% positioning error reduction in this case study.

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