Background Advancements in computer science and knowledge have made the incorporation of control theory,graphics processing,and mathematical models increasingly important for urban design planning.However,challenges r...Background Advancements in computer science and knowledge have made the incorporation of control theory,graphics processing,and mathematical models increasingly important for urban design planning.However,challenges remain in aligning virtual reality(VR)environments with real-world spatial and preparation requirements,particularly in indoor urban spaces.Methods This study investigates the application of VR technology to urban design,focusing on the growth and assessment of the redirection of the space-tree sorter algorithm(STSA).It outlines various assessment indicators,organization of the VR-based system architecture,and construction of 3D urban models and databases.This research also examined methods for the interactive adjustment of indoor space layout plans within a VR environment.Results This research study involved developing and demonstrating the creation and simulation of urban indoor spaces and cityscapes in VR and implementing an experimental setup to test layout modifications and system interactivity.The results indicated enhanced alignment between the virtual and physical spatial configurations.The analysis highlights the strengths and limitations of current VR systems for urban design and identifies key areas for optimization and refinement.Conclusion High congruence between virtual simulations and real-world urban spaces is necessary for effective VR-driven urban planning.This study contributes to a clearer understanding of how 3D modeling,interactive layout design,and reproduction technology can be efficiently employed to support urban increase initiatives.展开更多
Wireless node localization is one of the key technologies for wireless sensor networks. Outdoor localization can use GPS, AGPS (Assisted Global Positioning System) [6], but in buildings like supermarkets and undergrou...Wireless node localization is one of the key technologies for wireless sensor networks. Outdoor localization can use GPS, AGPS (Assisted Global Positioning System) [6], but in buildings like supermarkets and underground parking, the accuracy of GPS and even AGPS will be greatly reduced. Since Indoor localization requests higher accuracy, using GPS or AGPS for indoor localization is not feasible in the current view. RSSI-based trilateral localization algorithm, due to its low cost, no additional hardware support, and easy-understanding, it becomes the mainstream localization algorithm in wireless sensor networks. With the development of wireless sensor networks and smart devices, the number of WIFI access point in these buildings is increasing, as long as a mobile smart device can detect three or three more known WIFI hotspots’ positions, it would be relatively easy to realize self-localization (Usually WIFI access points locations are fixed). The key problem is that the RSSI value is relatively vulnerable to the influence of the physical environment, causing large calculation error in RSSI-based localization algorithm. The paper proposes an improved RSSI-based algorithm, the experimental results show that compared with original RSSI-based localization algorithms the algorithm improves the localization accuracy and reduces the deviation.展开更多
In this paper, we integrate inertial navigation system (INS) with wireless sensor network (WSN) to enhance the accuracy of indoor localization. Inertial measurement unit (IMU), the core of the INS, measures the accele...In this paper, we integrate inertial navigation system (INS) with wireless sensor network (WSN) to enhance the accuracy of indoor localization. Inertial measurement unit (IMU), the core of the INS, measures the accelerated and angular rotated speed of moving objects. Meanwhile, the ranges from the object to beacons, which are sensor nodes with known coordinates, are collected by time of arrival (ToA) approach. These messages are simultaneously collected and transmitted to the terminal. At the terminal, we set up the state transition models and observation models. According to them, several recursive Bayesian algorithms are applied to producing position estimations. As shown in the experiments, all of three algorithms do not require constant moving speed and perform better than standalone ToA system or standalone IMU system. And within them, two algorithms can be applied for the tracking on any path which is not restricted by the requirement that the trajectory between the positions at two consecutive time steps is a straight line.展开更多
For indoor location estimation based on received signal strength( RSS) in wireless local area networks( WLAN),in order to reduce the influence of noise on the positioning accuracy,a large number of RSS should be colle...For indoor location estimation based on received signal strength( RSS) in wireless local area networks( WLAN),in order to reduce the influence of noise on the positioning accuracy,a large number of RSS should be collected in offline phase. Therefore,collecting training data with positioning information is time consuming which becomes the bottleneck of WLAN indoor localization. In this paper,the traditional semisupervised learning method based on k-NN and ε-NN graph for reducing collection workload of offline phase are analyzed,and the result shows that the k-NN or ε-NN graph are sensitive to data noise,which limit the performance of semi-supervised learning WLAN indoor localization system. Aiming at the above problem,it proposes a l1-graph-algorithm-based semi-supervised learning( LG-SSL) indoor localization method in which the graph is built by l1-norm algorithm. In our system,it firstly labels the unlabeled data using LG-SSL and labeled data to build the Radio Map in offline training phase,and then uses LG-SSL to estimate user's location in online phase. Extensive experimental results show that,benefit from the robustness to noise and sparsity ofl1-graph,LG-SSL exhibits superior performance by effectively reducing the collection workload in offline phase and improving localization accuracy in online phase.展开更多
The mobility of the targets asks for high requirements of the locating speed in indoor positioning systems.The standard medium access control(MAC)algorithm will often cause lots of packet conflicts and high transmissi...The mobility of the targets asks for high requirements of the locating speed in indoor positioning systems.The standard medium access control(MAC)algorithm will often cause lots of packet conflicts and high transmission delay if multiple users communicate with one beacon at the same time,which will severely limit the speed of the system.Therefore,an optimized MAC algorithm is proposed based on channel reservation to enable users to reserve beacons.A frame threshold is set to ensure the users with shorter data frames do not depend on the reservation mechanism,and multiple users can achieve packets switching with relative beacon in a fixed sequence by using frequency division multiplexing technology.The simulation results show that the optimized MAC algorithm proposed in this paper can improve the positioning speed significantly while maintaining the positioning accuracy.Moreover,the positioning accuracy can be increased to a certain extent if more channel resources can be obtained,so as to provide effective technical support for the location and tracking applications of indoor moving targets.展开更多
With the rapid development in the service,medical,logistics and other industries,and the increasing demand for unmanned mobile devices,mobile robots with the ability of independent mapping,localization and navigation ...With the rapid development in the service,medical,logistics and other industries,and the increasing demand for unmanned mobile devices,mobile robots with the ability of independent mapping,localization and navigation capabilities have become one of the research hotspots.An accurate map construction is a prerequisite for a mobile robot to achieve autonomous localization and navigation.However,the problems of blurring and missing the borders of obstacles and map boundaries are often faced in the Gmapping algorithm when constructing maps in complex indoor environments.In this pursuit,the present work proposes the development of an improved Gmapping algorithm based on the sparse pose adjustment(SPA)optimizations.The improved Gmapping algorithm is then applied to construct the map of a mobile robot based on single-line Lidar.Experiments show that the improved algorithm could build a more accurate and complete map,reduce the number of particles required for Gmapping,and lower the hardware requirements of the platform,thereby saving and minimizing the computing resources.展开更多
In the fingerprint matching-based wireless local area network(WLAN) indoor positioning system,Kalman filter(KF) is usually applied after fingerprint matching algorithms to make positioning results more accurate and co...In the fingerprint matching-based wireless local area network(WLAN) indoor positioning system,Kalman filter(KF) is usually applied after fingerprint matching algorithms to make positioning results more accurate and consecutive.But this method,like most methods in WLAN indoor positioning field,fails to consider and make use of users' moving speed information.In order to make the positioning results more accurate through using the users' moving speed information,a coordinate correction algorithm(CCA) is proposed in this paper.It predicts a reasonable range for positioning coordinates by using the moving speed information.If the real positioning coordinates are not in the predicted range,it means that the positioning coordinates are not reasonable to a moving user in indoor environment,so the proposed CCA is used to correct this kind of positioning coordinates.The simulation results prove that the positioning results by the CCA are more accurate than those calculated by the KF and the CCA is effective to improve the positioning performance.展开更多
To improve the accuracy of indoor localization methods with channel state information(CSI)images,a localization method that used CSI images from selected multiple access points(APs)was proposed.The method had an off-l...To improve the accuracy of indoor localization methods with channel state information(CSI)images,a localization method that used CSI images from selected multiple access points(APs)was proposed.The method had an off-line phase and an on-line phase.In the off-line phase,three APs were selected from the four APs in the localization area based on the received signal strength indication(RSSI).Next,CSI data was collected from the three selected APs using a commercial Intel 5300 network interface card.A single-channel subimage was constructed for each selected AP by combining the amplitude information from different antennas and the phase difference information between neighboring antennas.These sub-images were then merged to form a three-channel RGB image,which was subsequently fed into the convolutional neural network(CNN)for training.The CNN model was saved upon completion of training.In the on-line phase,the CSI data from the target device was collected,converted into images using the same process as in the off-line phase,and fed into the well-trained CNN model.Finally,the real position of the target device was estimated using a weighted centroid algorithm based on the model’s output probabilities.The proposed method was validated in indoor environments using two datasets,achieving good localization accuracy.展开更多
To improve the quality of the illumination distribution,one novel indoor visible light communication(VLC)system,which is jointly assisted by the angle-diversity transceivers and simultaneous transmission and reflectio...To improve the quality of the illumination distribution,one novel indoor visible light communication(VLC)system,which is jointly assisted by the angle-diversity transceivers and simultaneous transmission and reflection-intelligent reflecting surface(STAR-IRS),has been proposed in this work.A Harris Hawks optimizer algorithm(HHOA)-based two-stage alternating iteration algorithm(TSAIA)is presented to jointly optimize the magnitude and uniformity of the received optical power.Besides,to demonstrate the superiority of the proposed strategy,several benchmark schemes are simulated and compared.Results showed that compared to other optimization strategies,the TSAIA scheme is more capable of balancing the average value and variance of the received optical power,when the maximal ratio combining(MRC)strategy is adopted at the receiver.Moreover,as the number of the STAR-IRS elements increases,the optical power variance of the system optimized by TSAIA scheme would become smaller while the average optical power would get larger.This study will benefit the design of received optical power distribution for indoor VLC systems.展开更多
WiFi fingerprinting is the method of recording WiFi signal strength from access points （AP） along with the positions at which they were recorded, and later matching those to new mea- surements for indoor positioning...WiFi fingerprinting is the method of recording WiFi signal strength from access points （AP） along with the positions at which they were recorded, and later matching those to new mea- surements for indoor positioning. Inertial positioning utilizes the accelerometer and gyroscopes for pedestrian positioning. However, both methods have their limitations, such as the WiFi fluctuations and the accumulative error of inertial sensors. Usually, the filtering method is used for integrating the two approaches to achieve better location accuracy. In the real environments, especially in the indoor field, the APs could be sparse and short range. To overcome the limitations, a novel particle filter approach based on Rao Blackwellized particle filter （RBPF） is presented in this paper. The indoor environment is divided into several local maps, which are assumed to be independent of each other. The local areas are estimated by the local particle filter, whereas the global areas are com- bined by the global particle filter. The algorithm has been investigated by real field trials using a WiFi tablet on hand with an inertial sensor on foot. It could be concluded that the proposed method reduces the complexity of the positioning algorithm obviously, as well as offers a significant improvement in position accuracy compared to other conventional algorithms, allowing indoor positioning error below 1.2 m.展开更多
To tackle challenges such as interference and poor accuracy of indoor positioning systems,a novel scheme based on ultra-wide bandwidth(UWB)technology is proposed.First,we illustrate a distance measuring method between...To tackle challenges such as interference and poor accuracy of indoor positioning systems,a novel scheme based on ultra-wide bandwidth(UWB)technology is proposed.First,we illustrate a distance measuring method between two UWB devices.Then,a Taylor series expansion algorithm is developed to detect coordinates of the mobile node using the location of anchor nodes and the distance between them.Simulation results show that the observation error under our strategy is within 15 cm,which is superior to existing algorithms.The final experimental data in the hardware system mainly composed of STM32 and DW1000 also confirms the performance of the proposed scheme.展开更多
With the advent and advancements in the wireless technologies,Wi-Fi ngerprinting-based Indoor Positioning System(IPS)has become one of the most promising solutions for localization in indoor environments.Unlike the ou...With the advent and advancements in the wireless technologies,Wi-Fi ngerprinting-based Indoor Positioning System(IPS)has become one of the most promising solutions for localization in indoor environments.Unlike the outdoor environment,the lack of line-of-sight propagation in an indoor environment keeps the interest of the researchers to develop efcient and precise positioning systems that can later be incorporated in numerous applications involving Internet of Things(IoTs)and green computing.In this paper,we have proposed a technique that combines the capabilities of multiple algorithms to overcome the complexities experienced indoors.Initially,in the database development phase,Motley Kennan propagation model is used with Hough transformation to classify,detect,and assign different attenuation factors related to the types of walls.Furthermore,important parameters for system accuracy,such as,placement and geometry of Access Points(APs)in the coverage area are also considered.New algorithm for deployment of an additional AP to an already existing infrastructure is proposed by using Genetic Algorithm(GA)coupled with Enhanced Dilution of Precision(EDOP).Moreover,classication algorithm based on k-Nearest Neighbors(k-NN)is used to nd the position of a stationary or mobile user inside the given coverage area.For k-NN to provide low localization error and reduced space dimensionality,three APs are required to be selected optimally.In this paper,we have suggested an idea to select APs based on Position Vectors(PV)as an input to the localization algorithm.Deducing from our comprehensive investigations,it is revealed that the accuracy of indoor positioning system using the proposed technique unblemished the existing solutions with signicant improvements.展开更多
An indoor positioning system( IPS) is designed to realize positioning and tracking of mobile targets,by taking advantages of both the visible light communication( VLC) and inertial measurement unit( IMU). The platform...An indoor positioning system( IPS) is designed to realize positioning and tracking of mobile targets,by taking advantages of both the visible light communication( VLC) and inertial measurement unit( IMU). The platform of the IPS is designed,which consists of the light-emitting diode( LED)based transmitter,the receiver and the positioning server. To reduce the impact caused by measurement errors,both inertial sensing data and the received signal strength( RSS) from the VLC are calibrated. Then,a practical propagation model is established to obtain the distance between the transmitter and the receiver from the RSS measurements. Furthermore,a hybrid positioning algorithm is proposed by using the adaptive Kalman filter( AKF) and the weighted least squares( WLS)trilateration to estimate the positions of the mobile targets.Experimental results show that the developed IPS using the proposed hybrid positioning algorithm can extend the localization area of VLC,mitigate the IMU drifts and improve the positioning accuracy of mobile targets.展开更多
A Wi-Fi fingerprinting localization approach has attracted increasing attention in recent years due to the ubiquity of Access Point( AP). However,typical fingerprinting localization methods fail to resist accidental e...A Wi-Fi fingerprinting localization approach has attracted increasing attention in recent years due to the ubiquity of Access Point( AP). However,typical fingerprinting localization methods fail to resist accidental environmental changes,such as AP movement. In order to address this problem,a robust fingerprinting indoor localization method is initiated. In the offline phase,three attributes of Received Signal Strength Indication( RSSI) —average,standard deviation and AP's response rate—are computed to prepare for the subsequent computation. In this way,the underlying location-relevant information can be captured comprehensively. Then in the online phase, a three-step voting scheme-based decision mechanism is demonstrated, detecting and eliminating the part of AP where the signals measured are severely distorted by AP 's movement. In the following localization step,in order to achieve accuracy and efficiency simultaneously,a novel fingerprinting localization algorithm is applied. Bhattacharyya distance is utilized to measure the RSSI distribution distance,thus realizing the optimization of MAximum Overlapping algorithm( MAO). Finally,experimental results are displayed,which demonstrate the effectiveness of our proposed methods in eliminating outliers and attaining relatively higher localization accuracy.展开更多
In order to solve the problem of localization loss that an autonomous mobile robot may encounter in indoor environment,an improved Monte Carlo localization algorithm is proposed in this paper.The algorithm can identif...In order to solve the problem of localization loss that an autonomous mobile robot may encounter in indoor environment,an improved Monte Carlo localization algorithm is proposed in this paper.The algorithm can identify the state of the robot by real time monitoring of the mean weight changes of the particles and introduce more high weight particles through the divergent sampling function when the robot is in the state of localization loss.The observation model will make the particle set slowly approach to the real position of the robot and the new particles are then sampled to reach the position.The loss self recovery experiments of different algorithms under different experimental scenarios are presented in this paper.展开更多
文摘Background Advancements in computer science and knowledge have made the incorporation of control theory,graphics processing,and mathematical models increasingly important for urban design planning.However,challenges remain in aligning virtual reality(VR)environments with real-world spatial and preparation requirements,particularly in indoor urban spaces.Methods This study investigates the application of VR technology to urban design,focusing on the growth and assessment of the redirection of the space-tree sorter algorithm(STSA).It outlines various assessment indicators,organization of the VR-based system architecture,and construction of 3D urban models and databases.This research also examined methods for the interactive adjustment of indoor space layout plans within a VR environment.Results This research study involved developing and demonstrating the creation and simulation of urban indoor spaces and cityscapes in VR and implementing an experimental setup to test layout modifications and system interactivity.The results indicated enhanced alignment between the virtual and physical spatial configurations.The analysis highlights the strengths and limitations of current VR systems for urban design and identifies key areas for optimization and refinement.Conclusion High congruence between virtual simulations and real-world urban spaces is necessary for effective VR-driven urban planning.This study contributes to a clearer understanding of how 3D modeling,interactive layout design,and reproduction technology can be efficiently employed to support urban increase initiatives.
文摘Wireless node localization is one of the key technologies for wireless sensor networks. Outdoor localization can use GPS, AGPS (Assisted Global Positioning System) [6], but in buildings like supermarkets and underground parking, the accuracy of GPS and even AGPS will be greatly reduced. Since Indoor localization requests higher accuracy, using GPS or AGPS for indoor localization is not feasible in the current view. RSSI-based trilateral localization algorithm, due to its low cost, no additional hardware support, and easy-understanding, it becomes the mainstream localization algorithm in wireless sensor networks. With the development of wireless sensor networks and smart devices, the number of WIFI access point in these buildings is increasing, as long as a mobile smart device can detect three or three more known WIFI hotspots’ positions, it would be relatively easy to realize self-localization (Usually WIFI access points locations are fixed). The key problem is that the RSSI value is relatively vulnerable to the influence of the physical environment, causing large calculation error in RSSI-based localization algorithm. The paper proposes an improved RSSI-based algorithm, the experimental results show that compared with original RSSI-based localization algorithms the algorithm improves the localization accuracy and reduces the deviation.
基金Project(61301181) supported by the National Natural Science Foundation of China
文摘In this paper, we integrate inertial navigation system (INS) with wireless sensor network (WSN) to enhance the accuracy of indoor localization. Inertial measurement unit (IMU), the core of the INS, measures the accelerated and angular rotated speed of moving objects. Meanwhile, the ranges from the object to beacons, which are sensor nodes with known coordinates, are collected by time of arrival (ToA) approach. These messages are simultaneously collected and transmitted to the terminal. At the terminal, we set up the state transition models and observation models. According to them, several recursive Bayesian algorithms are applied to producing position estimations. As shown in the experiments, all of three algorithms do not require constant moving speed and perform better than standalone ToA system or standalone IMU system. And within them, two algorithms can be applied for the tracking on any path which is not restricted by the requirement that the trajectory between the positions at two consecutive time steps is a straight line.
基金Sponsored by the National Natural Science Foundation of China(Grant No.61101122)the National High Technology Research and Development Program of China(Grant No.2012AA120802)the National Science and Technology Major Project of the Ministry of Science and Technology of China(Grant No.2012ZX03004-003)
文摘For indoor location estimation based on received signal strength( RSS) in wireless local area networks( WLAN),in order to reduce the influence of noise on the positioning accuracy,a large number of RSS should be collected in offline phase. Therefore,collecting training data with positioning information is time consuming which becomes the bottleneck of WLAN indoor localization. In this paper,the traditional semisupervised learning method based on k-NN and ε-NN graph for reducing collection workload of offline phase are analyzed,and the result shows that the k-NN or ε-NN graph are sensitive to data noise,which limit the performance of semi-supervised learning WLAN indoor localization system. Aiming at the above problem,it proposes a l1-graph-algorithm-based semi-supervised learning( LG-SSL) indoor localization method in which the graph is built by l1-norm algorithm. In our system,it firstly labels the unlabeled data using LG-SSL and labeled data to build the Radio Map in offline training phase,and then uses LG-SSL to estimate user's location in online phase. Extensive experimental results show that,benefit from the robustness to noise and sparsity ofl1-graph,LG-SSL exhibits superior performance by effectively reducing the collection workload in offline phase and improving localization accuracy in online phase.
基金Supported by the National Natural Science Foundation of China(No.61771186)Outstanding Youth Project of Heilongjiang Natural Science Foundation(No.YQ2020F012)Undergraduate University Project of Young Scientist Creative Talent of Heilongjiang Province(No.UNPYSCT-2017125)。
文摘The mobility of the targets asks for high requirements of the locating speed in indoor positioning systems.The standard medium access control(MAC)algorithm will often cause lots of packet conflicts and high transmission delay if multiple users communicate with one beacon at the same time,which will severely limit the speed of the system.Therefore,an optimized MAC algorithm is proposed based on channel reservation to enable users to reserve beacons.A frame threshold is set to ensure the users with shorter data frames do not depend on the reservation mechanism,and multiple users can achieve packets switching with relative beacon in a fixed sequence by using frequency division multiplexing technology.The simulation results show that the optimized MAC algorithm proposed in this paper can improve the positioning speed significantly while maintaining the positioning accuracy.Moreover,the positioning accuracy can be increased to a certain extent if more channel resources can be obtained,so as to provide effective technical support for the location and tracking applications of indoor moving targets.
基金National Key Research and Development of China(No.2019YFB1600700)Sichuan Science and Technology Planning Project(No.2021YFSY0003)。
文摘With the rapid development in the service,medical,logistics and other industries,and the increasing demand for unmanned mobile devices,mobile robots with the ability of independent mapping,localization and navigation capabilities have become one of the research hotspots.An accurate map construction is a prerequisite for a mobile robot to achieve autonomous localization and navigation.However,the problems of blurring and missing the borders of obstacles and map boundaries are often faced in the Gmapping algorithm when constructing maps in complex indoor environments.In this pursuit,the present work proposes the development of an improved Gmapping algorithm based on the sparse pose adjustment(SPA)optimizations.The improved Gmapping algorithm is then applied to construct the map of a mobile robot based on single-line Lidar.Experiments show that the improved algorithm could build a more accurate and complete map,reduce the number of particles required for Gmapping,and lower the hardware requirements of the platform,thereby saving and minimizing the computing resources.
基金Sponsored by the High Technology Research and Development Program of China (Grant No. 2008AA12Z305)
文摘In the fingerprint matching-based wireless local area network(WLAN) indoor positioning system,Kalman filter(KF) is usually applied after fingerprint matching algorithms to make positioning results more accurate and consecutive.But this method,like most methods in WLAN indoor positioning field,fails to consider and make use of users' moving speed information.In order to make the positioning results more accurate through using the users' moving speed information,a coordinate correction algorithm(CCA) is proposed in this paper.It predicts a reasonable range for positioning coordinates by using the moving speed information.If the real positioning coordinates are not in the predicted range,it means that the positioning coordinates are not reasonable to a moving user in indoor environment,so the proposed CCA is used to correct this kind of positioning coordinates.The simulation results prove that the positioning results by the CCA are more accurate than those calculated by the KF and the CCA is effective to improve the positioning performance.
基金supported by Lanzhou Science and Technology Plan Project(No.2023-3-104)Gansu Province Higher Education Industry Support Plan Project(No.2023CYZC-40)Gansu Province Excellent Graduate“Innovation Star”Program(No.2023CXZX-546)。
文摘To improve the accuracy of indoor localization methods with channel state information(CSI)images,a localization method that used CSI images from selected multiple access points(APs)was proposed.The method had an off-line phase and an on-line phase.In the off-line phase,three APs were selected from the four APs in the localization area based on the received signal strength indication(RSSI).Next,CSI data was collected from the three selected APs using a commercial Intel 5300 network interface card.A single-channel subimage was constructed for each selected AP by combining the amplitude information from different antennas and the phase difference information between neighboring antennas.These sub-images were then merged to form a three-channel RGB image,which was subsequently fed into the convolutional neural network(CNN)for training.The CNN model was saved upon completion of training.In the on-line phase,the CSI data from the target device was collected,converted into images using the same process as in the off-line phase,and fed into the well-trained CNN model.Finally,the real position of the target device was estimated using a weighted centroid algorithm based on the model’s output probabilities.The proposed method was validated in indoor environments using two datasets,achieving good localization accuracy.
基金supported by the National Natural Science Foundation of China(No.62071365)the Key Research and Development Program of Shaanxi Province(No.2017ZDCXL-GY-06-02).
文摘To improve the quality of the illumination distribution,one novel indoor visible light communication(VLC)system,which is jointly assisted by the angle-diversity transceivers and simultaneous transmission and reflection-intelligent reflecting surface(STAR-IRS),has been proposed in this work.A Harris Hawks optimizer algorithm(HHOA)-based two-stage alternating iteration algorithm(TSAIA)is presented to jointly optimize the magnitude and uniformity of the received optical power.Besides,to demonstrate the superiority of the proposed strategy,several benchmark schemes are simulated and compared.Results showed that compared to other optimization strategies,the TSAIA scheme is more capable of balancing the average value and variance of the received optical power,when the maximal ratio combining(MRC)strategy is adopted at the receiver.Moreover,as the number of the STAR-IRS elements increases,the optical power variance of the system optimized by TSAIA scheme would become smaller while the average optical power would get larger.This study will benefit the design of received optical power distribution for indoor VLC systems.
文摘WiFi fingerprinting is the method of recording WiFi signal strength from access points （AP） along with the positions at which they were recorded, and later matching those to new mea- surements for indoor positioning. Inertial positioning utilizes the accelerometer and gyroscopes for pedestrian positioning. However, both methods have their limitations, such as the WiFi fluctuations and the accumulative error of inertial sensors. Usually, the filtering method is used for integrating the two approaches to achieve better location accuracy. In the real environments, especially in the indoor field, the APs could be sparse and short range. To overcome the limitations, a novel particle filter approach based on Rao Blackwellized particle filter （RBPF） is presented in this paper. The indoor environment is divided into several local maps, which are assumed to be independent of each other. The local areas are estimated by the local particle filter, whereas the global areas are com- bined by the global particle filter. The algorithm has been investigated by real field trials using a WiFi tablet on hand with an inertial sensor on foot. It could be concluded that the proposed method reduces the complexity of the positioning algorithm obviously, as well as offers a significant improvement in position accuracy compared to other conventional algorithms, allowing indoor positioning error below 1.2 m.
基金National Key Research and Development Program of China,No.2018YFC0604404.
文摘To tackle challenges such as interference and poor accuracy of indoor positioning systems,a novel scheme based on ultra-wide bandwidth(UWB)technology is proposed.First,we illustrate a distance measuring method between two UWB devices.Then,a Taylor series expansion algorithm is developed to detect coordinates of the mobile node using the location of anchor nodes and the distance between them.Simulation results show that the observation error under our strategy is within 15 cm,which is superior to existing algorithms.The final experimental data in the hardware system mainly composed of STM32 and DW1000 also confirms the performance of the proposed scheme.
基金The authors extend their appreciation to National University of Sciences and Technology for funding this work through Researchers Supporting Grant,National University of Sciences and Technology,Islamabad,Pakistan.
文摘With the advent and advancements in the wireless technologies,Wi-Fi ngerprinting-based Indoor Positioning System(IPS)has become one of the most promising solutions for localization in indoor environments.Unlike the outdoor environment,the lack of line-of-sight propagation in an indoor environment keeps the interest of the researchers to develop efcient and precise positioning systems that can later be incorporated in numerous applications involving Internet of Things(IoTs)and green computing.In this paper,we have proposed a technique that combines the capabilities of multiple algorithms to overcome the complexities experienced indoors.Initially,in the database development phase,Motley Kennan propagation model is used with Hough transformation to classify,detect,and assign different attenuation factors related to the types of walls.Furthermore,important parameters for system accuracy,such as,placement and geometry of Access Points(APs)in the coverage area are also considered.New algorithm for deployment of an additional AP to an already existing infrastructure is proposed by using Genetic Algorithm(GA)coupled with Enhanced Dilution of Precision(EDOP).Moreover,classication algorithm based on k-Nearest Neighbors(k-NN)is used to nd the position of a stationary or mobile user inside the given coverage area.For k-NN to provide low localization error and reduced space dimensionality,three APs are required to be selected optimally.In this paper,we have suggested an idea to select APs based on Position Vectors(PV)as an input to the localization algorithm.Deducing from our comprehensive investigations,it is revealed that the accuracy of indoor positioning system using the proposed technique unblemished the existing solutions with signicant improvements.
基金The National Natural Science Foundation of China(No.61741102,61471164,61601122)the Fundamental Research Funds for the Central Universities(No.SJLX_160040)
文摘An indoor positioning system( IPS) is designed to realize positioning and tracking of mobile targets,by taking advantages of both the visible light communication( VLC) and inertial measurement unit( IMU). The platform of the IPS is designed,which consists of the light-emitting diode( LED)based transmitter,the receiver and the positioning server. To reduce the impact caused by measurement errors,both inertial sensing data and the received signal strength( RSS) from the VLC are calibrated. Then,a practical propagation model is established to obtain the distance between the transmitter and the receiver from the RSS measurements. Furthermore,a hybrid positioning algorithm is proposed by using the adaptive Kalman filter( AKF) and the weighted least squares( WLS)trilateration to estimate the positions of the mobile targets.Experimental results show that the developed IPS using the proposed hybrid positioning algorithm can extend the localization area of VLC,mitigate the IMU drifts and improve the positioning accuracy of mobile targets.
基金Sponsored by the National High Technology Research and Development Program of China(Grant No.2014AA123103)
文摘A Wi-Fi fingerprinting localization approach has attracted increasing attention in recent years due to the ubiquity of Access Point( AP). However,typical fingerprinting localization methods fail to resist accidental environmental changes,such as AP movement. In order to address this problem,a robust fingerprinting indoor localization method is initiated. In the offline phase,three attributes of Received Signal Strength Indication( RSSI) —average,standard deviation and AP's response rate—are computed to prepare for the subsequent computation. In this way,the underlying location-relevant information can be captured comprehensively. Then in the online phase, a three-step voting scheme-based decision mechanism is demonstrated, detecting and eliminating the part of AP where the signals measured are severely distorted by AP 's movement. In the following localization step,in order to achieve accuracy and efficiency simultaneously,a novel fingerprinting localization algorithm is applied. Bhattacharyya distance is utilized to measure the RSSI distribution distance,thus realizing the optimization of MAximum Overlapping algorithm( MAO). Finally,experimental results are displayed,which demonstrate the effectiveness of our proposed methods in eliminating outliers and attaining relatively higher localization accuracy.
基金Sponsored by the National Natural Science Foundation of China(Grant No.61305110)the Self-Planned Task of Institute of Robotics(Grant No.F201803)the Intelligent Systems and Natural Science Foundation of Hubei Province(Grant No.2018CFB626).
文摘In order to solve the problem of localization loss that an autonomous mobile robot may encounter in indoor environment,an improved Monte Carlo localization algorithm is proposed in this paper.The algorithm can identify the state of the robot by real time monitoring of the mean weight changes of the particles and introduce more high weight particles through the divergent sampling function when the robot is in the state of localization loss.The observation model will make the particle set slowly approach to the real position of the robot and the new particles are then sampled to reach the position.The loss self recovery experiments of different algorithms under different experimental scenarios are presented in this paper.
