A roadside unit‐based localization scheme for vehicular ad hoc networks

Vehicular Ad Hoc Networks (VANETs), designed to ensure the safety and comfort of passengers via the exchange of information amongst nearby vehicles or between the vehicles and Roadside Units (RSUs), have attracted particular attention. However, the success of many VANET applications depends on their ability to estimate the vehicle position with a high degree of precision, and thus, many vehicle localization schemes have been proposed. Many of these schemes are based on vehicle‐mounted Global Positioning System (GPS) receivers. However, the GPS signals are easily disturbed or obstructed. Although this problem can be resolved by vehicle‐to‐vehicle communication schemes, such schemes are effective only in VANETs with a high traffic density. Accordingly, this paper presents a VANET localization scheme in which each vehicle estimates its location on the basis of beacon messages broadcast periodically by pairs of RSUs deployed on either side of the road. In addition, three enhancements to the proposed scheme are presented for the RSU deployment, RSU beacon collisions, and RSU failures. Overall, the ns‐2 simulation results show that the localization scheme achieves a lower localization error than existing solutions on the basis of vehicle‐to‐vehicle communications and is robust toward changes in the traffic density and the vehicle speed. Copyright © 2012 John Wiley & Sons, Ltd.     

A Bimodal Approach for Land Vehicle Localization

In this paper, we present a novel idea to integrate a low cost inertial measurement unit (IMU) and Global Positioning System (GPS) for land vehicle localization. By taking advantage of positioning data calculated from an image based on photogrammetry and stereo‐vision techniques, errors caused by a GPS outage for land vehicle localization were significantly reduced in the proposed bimodal approach. More specifically, positioning data from the photogrammetric approach are fed back into the Kalman filter to reduce and compensate for IMU errors and improve the performance. Experimental results are presented to show the robustness of the proposed method, which can be used to reduce positioning errors caused by a low cost IMU when a GPS signal is not available in urban areas.     

基于惯性导航与无线测距组合的车载定位方案

车载导航中,使用无线测距与惯性导航系统(INS)组合定位,可有效改善系统定位精度。针对定位中全球卫星定位系统(GPS)失锁时,由INS长时间独立工作造成的定位误差,该文从理论上论证了用无线测距所得精确距离修正INS定位数据方案的可行性,给出组合定位具体原理,并分析了定位误差与INS误差的关系,从而用来改善定位精度。仿真结果表明此方案可有效提高定位精度。     

Soft‐output MMSE V‐BLAST receiver with MMSE channel estimation under correlated Rician fading MIMO channels

For wireless multiple‐input multiple‐output (MIMO) communications systems, both channel estimation error and spatial channel correlation should be considered when designing an effective signal detection system. In this paper, we propose a new soft‐output MMSE based Vertical Bell Laboratories Layered Space‐Time (V‐BLAST) receiver for spatially‐correlated Rician fading MIMO channels. In this novel receiver, not only the channel estimation errors and channel correlation but also the residual interference cancellation errors are taken into consideration in the computation of the MMSE filter and the log‐likelihood ratio (LLR) of each coded bit. More importantly, our proposed receiver generalizes all existing soft‐output MMSE V‐BLAST receivers, in the sense that, previously proposed soft‐output MMSE V‐BLAST receivers can be derived as the reduced forms of our receiver when the above three considered factors are partially or fully simplified. Simulation results show that the proposed soft‐output MMSE V‐BLAST receiver outperforms the existing receivers with a considerable gain in terms of bit‐error‐rate (BER) performance. Copyright © 2011 John Wiley & Sons, Ltd.     

Reducing wireless multi‐hop delay via RSU re‐routing in vehicular wireless networks

Vehicular wireless networks offer wireless multi‐hop communications between vehicles and roadside units (RSUs). To reduce deployment cost, the distance between two RSUs could be long; that is, the communications between an RSU and a vehicle may be carried out through multi‐hops among intermediate vehicles. When a vehicle is driven from one RSU to another, the wireless multi‐hop delay becomes more serious as the number of multi‐hop relays increases. The wireless multi‐hop delay is critical for some emergency service. For instance, in a traffic accident, when a patient was sent to the hospital by ambulance, the life information of the patient must be transmitted to the hospital on time through the multi‐hop wireless network. If the ambulance is moved from one RSU to another, the wireless multi‐hop delay becomes more and more serious as the ambulance is closing to another RSU. In this paper, we propose an RSU re‐routing strategy that dynamically alters multi‐hop communications until the best RSU with the shortest path using location information is found. Moreover, we compare the proposed strategy with the existing strategy in terms of broadcasting costs, re‐routing delay, and wireless multi‐hop delay of data transmission. Performance results show that the proposed strategy can reduce the wireless multi‐hop delay significantly. Copyright © 2014 John Wiley & Sons, Ltd.     

GUIDE: Smartphone sensors‐based pedestrian indoor localization with heterogeneous devices

A plethora of indoor localization systems based on Wi‐Fi, radio frequency chips, ultra‐wide‐band, and bluetooth have been proposed, yet these systems do not work when the infrastructure is absent. On the other hand, infrastructure less systems benefit mostly from off‐the‐shelf smartphone sensors and do not need additional hardware. This study shows a similar indoor localization approach which turns smartphone built‐in sensors to good account. We take advantage of magnetic field strength fingerprinting approach to localize a pedestrian indoor. In addition, accelerometer and gyroscope sensors are utilized to find the pedestrian's traveled distance and heading estimation, respectively. Our aim is to solve the problem of device dependence by devising an approach that can perform localization using various smartphones in a similar fashion. We make the use of patterns of magnetic field strength to formulate the fingerprint database to achieve this goal. This approach solves two problems: need to update the database periodically and device dependence. We conduct experiments using Samsung Galaxy S8 and LG G6 for five different buildings with different dimensions in Yeungnam University, Republic of Korea. The evaluation is performed by following three different path geometries inside the buildings. The results show that the proposed localization approach can potentially be used for indoor localization with heterogeneous devices. The errors for path 1 and path 2 are very similar, however, localization error for path 3 is comparatively higher because of the complexity of the path 3. The mean and median errors for Galaxy S8 are 1.37 and 0.88 m while for LG G6, these are 1.84 and 1.21 m, respectively, while considering all buildings and all paths followed during the experiment. Overall, the proposed approach can potentially localize a pedestrian within 1.21 m at 50% and within 1.93 m at 75%, irrespective of the device used for localization. The performance of the proposed approach is compared with the K nearest neighbor (KNN) for evaluation. The proposed approach outperforms the KNN     

声表面波室内定位系统与算法研究

鉴于声表面波技术的无源优势,搭建了由声表面波标签和阅读器构成的室内定位系统,在测量标签回波信号强度时,可有效减小多径效应的影响。设计了以三边定位为基础的定位算法,包括测距、选星、位置估计3个阶段,分析了3个定位圆之间位置关系可能出现的全部情况,并有针对性地进行自适应修正。仿真测试结果验证了定位算法的定位误差小于根心法和加权质心法。系统测试结果表明,定位系统可实现2 m×2 m的定位,平均定位误差为31.84 cm。室内定位系统和算法以较少的锚节点实现了较小的室内定位误差。     

Hybrid TOA/AOA estimation error test and non‐line of sight identification in wireless location

In this paper, a modified time‐of‐arrival (TOA) estimation error test and a hybrid time‐of‐arrival/angle‐of‐arrival (TOA/AOA) estimation error test for identification of line of sight (LOS) base stations (BSs) are proposed. The proposed schemes aim to improve the location accuracy of wireless location systems suffering from the non‐line of sight (NLOS) propagation errors. The modified TOA‐based estimation error test is considered a straightforward approach in identifying the LOS‐BS set when the number of LOS BSs is greater than or equal to three. When both TOA and AOA metrics are available, hybrid TOA/AOA squares of normalized estimation errors are formulated by adopting the approximate maximum likelihood (AML) estimation. The proposed hybrid estimation error test scheme is capable of identifying the LOS/NLOS status of each BS, and performing location estimation in the situation where only two LOS BSs exist. Simulation results show that the proposed schemes are capable of correctly identifying the LOS BSs and improving the overall location accuracy. Copyright © 2009 John Wiley & Sons, Ltd.     

Performance Enhancement of MEMS-Based INS/GPS Integration for Low-Cost Navigation Applications

The relatively high cost of inertial navigation systems (INSs) has been preventing their integration with global positioning systems (GPSs) for land-vehicle applications. Inertial sensors based on microelectromechanical system (MEMS) technology have recently become commercially available at lower costs. These relatively lower cost inertial sensors have the potential to allow the development of an affordable GPS-aided INS (INS/GPS) vehicular navigation system. While MEMS-based INS is inherently immune to signal jamming, spoofing, and blockage vulnerabilities (as opposed to GPS), the performance of MEMS-based gyroscopes and accelerometers is significantly affected by complex error characteristics that are stochastic in nature. To improve the overall performance of MEMS-based INS/GPS, this paper proposes the following two-tier approach at different levels: 1) improving the stochastic modeling of MEMS-based inertial sensor errors using autoregressive processes at the raw measurement level and 2) enhancing the positioning accuracy during GPS outages by nonlinear modeling of INS position errors at the information fusion level using neuro-fuzzy (NF) modules, which are augmented in the Kalman filtering INS/GPS integration. Experimental road tests involving a MEMS-based INS were performed, which validated the efficacy of the proposed methods on several trajectories.      

Mobile GPS carrier phase tracking using a novel intelligent dual‐loop receiver

Carrier phase information is necessary for accurate measurements in global positioning system (GPS) applications. This paper presents a novel intelligent GPS carrier tracking loop with variable‐bandwidth characteristics for fast acquisition and better tracking capability in the presence of dynamic environments. Our dual‐loop receiver is composed of a frequency‐locked loop‐assisted phase‐locked loop structure, the fuzzy controllers (FCs), and the ATAN discriminator functions. The soft‐computing FCs provide the time‐varying loop gains to perform accurate and reliable control of the dual‐loop paradigm. Once the phase dynamic errors become large under kinematic conditions, the fuzzy loop gains increase adaptively and achieve rapid acquisition. On the other hand, when the tracking errors approach zero in the steady state, the loop gains decrease and the corresponding dual‐loop receiver returns to a narrowband system. Four types of carrier phase signals, i.e. phase offset, decaying sinusoidal phase jitter, frequency offset, and frequency ramp offset, are considered to emulate realistic mobile circumstances. Simulation results show that our proposed receiver does achieve a superior performance over conventional tracking loops in terms of faster settling time and wider acquisition range while preventing the occurrence of cycle slips. Copyright © 2008 John Wiley & Sons, Ltd.     

一种新型的INS与UWB融合的室内行人跟踪方法

针对单一室内定位系统定位精度低、鲁棒性差的问题,提出了一种新型的基于动态鲁棒容积卡尔曼滤波的超宽带(Ultra-wideband,UWB)与惯性导航系统(Inertial Navigation System,INS)融合的定位方法.首先建立了一种易于实现的UWB-INS融合定位框架,然后提出了一种动态鲁棒容积卡尔曼滤波算法以处理多源数据的融合.提出的滤波算法可将M估计理论、强跟踪算法、动态增强策略与传统的容积卡尔曼滤波算法结合,以此缓解外界噪声和系统模型误差对状态估计的不利影响.在UWB-INS组合定位框架内采用动态鲁棒容积卡尔曼滤波,可实现对室内行人运动轨迹的精确稳定跟踪.实际数据测试和Matlab仿真验证了所提方法在复杂环境下其定位精度和鲁棒性均优于单一依赖UWB或INS技术的定位系统.     

Packet‐Reduced Ranging Method with Superresolution TOA Estimation Algorithm for Chirp‐Based RTLS

In this paper, a packet‐reduced ranging method using a superresolution time of arrival estimation algorithm for a chirp‐based real‐time locating system is presented. A variety of ranging methods, such as symmetric double‐sided two‐way ranging (SDS‐TWR), have been proposed to remove the time drift due to the frequency offset using extra ranging packets. Our proposed method can perform robust ranging against the frequency offset using only two ranging packets while maintaining almost the same ranging accuracy as them. To verify the effectiveness of our proposed algorithm, the error performance of our proposed ranging method is analyzed and compared with others. The total ranging performance of TWR, SDS‐TWR, and our proposed TWR are analyzed and verified through simulations in additive white Gaussian noise and multipath channels in the presence of the frequency offset.     

Tunnel lane‐positioning system for autonomous driving cars using LED chromaticity and fuzzy logic system

Currently, studies on autonomous driving are being actively conducted. Vehicle positioning techniques are very important in the autonomous driving area. Currently, the global positioning system (GPS) is the most widely used technology for vehicle positioning. Although technologies such as the inertial navigation system and vision are used in combination with GPS to enhance precision, there is a limitation in measuring the lane and position in shaded areas of GPS, like tunnels. To solve such problems, this paper presents the use of LED lighting for position estimation in GPS shadow areas. This paper presents simulations in the environment of three‐lane tunnels with LEDs of different color temperatures, and the results show that position estimation is possible by the analyzing chromaticity of LED lights. To improve the precision of positioning, a fuzzy logic system is added to the location function in the literature [1]. The experimental results showed that the average error was 0.0619 cm, and verify that the performance of developed position estimation system is viable compared with previous works.     

Channel‐estimate‐based frequency‐domain equalization (CE‐FDE) for broadband single‐carrier transmission

A channel‐estimate‐based frequency‐domain equalization (CE‐FDE) scheme for wireless broadband single‐carrier communications over time‐varying frequency‐selective fading channels is proposed. Adaptive updating of the FDE coefficients are based on the timely estimate of channel impulse response (CIR) to avoid error propagation that is a major source of performance degradation in adaptive equalizers using least mean square (LMS) or recursive least square (RLS) algorithms. Various time‐domain and frequency‐domain techniques for initial channel estimation and adaptive updating are discussed and evaluated in terms of performance and complexity. Performance of uncoded and coded systems using the proposed CE‐FDE with diversity combining in different time‐varying, multi‐path fading channels is evaluated. Analytical and simulation results show the good performance of the proposed scheme suitable for broadband wireless communications. For channels with high‐Doppler frequency, diversity combining substantially improves the system performance. For channels with sparse multi‐path propagation, a tap‐selection strategy used with the CE‐FDE systems can significantly reduce the complexity without sacrificing the performance. Copyright © 2004 John Wiley & Sons, Ltd.     

Fundamental limits and improved algorithms for linear least‐squares wireless position estimation

In this paper, theoretical lower bounds on performance of linear least‐squares (LLS) position estimators are obtained, and performance differences between LLS and nonlinear least‐squares (NLS) position estimators are quantified. In addition, two techniques are proposed in order to improve the performance of the LLS approach. First, a reference selection algorithm is proposed to optimally select the measurement that is used for linearizing the other measurements in an LLS estimator. Then, a maximum likelihood approach is proposed, which takes correlations between different measurements into account in order to reduce average position estimation errors. Simulations are performed to evaluate the theoretical limits and to compare performance of various LLS estimators. Copyright © 2010 John Wiley & Sons, Ltd.     

Ranging error‐tolerable localization in wireless sensor networks with inaccurately positioned anchor nodes

Localization is essential for wireless sensor networks (WSNs). It is to determine the positions of sensor nodes based on incomplete mutual distance measurements. In this paper, to measure the accuracy of localization algorithms, a ranging error model for time of arrival (TOA) estimation is given, and the Cramer—Rao Bound (CRB) for the model is derived. Then an algorithm is proposed to deal with the case where (1) ranging error accumulation exists, and (2) some anchor nodes broadcast inaccurate/wrong location information. Specifically, we first present a ranging error‐tolerable topology reconstruction method without knowledge of anchor node locations. Then we propose a method to detect anchor nodes whose location information is inaccurate/wrong. Simulations demonstrate the effectiveness of our algorithm. Copyright © 2008 John Wiley & Sons, Ltd.     

Smart framework for GNSS‐based navigation in urban environments

Intelligent Transport System applications require accurate and reliable positioning. When stand‐alone global positioning system (GPS) is used in urban areas, the results dramatically degrade, because of signal outages and multipath. This paper unveils new signal processing techniques for carrier phase‐based navigation in urban environments. The techniques identify multipath or weak signals using carrier phase based receiver autonomous integrity monitoring, and abnormal signals and situational measurements are eliminated or estimated. To estimate the carrier phase during a short time period when GPS signals is blocked, this paper uses carrier phase statistics. The performance of the proposed method is verified, through a car test. The test environment has many signal outages and multipath because of high buildings. Many abnormal signal conditions occurred during the test, and the results confirmed that the proposed method performed better than the basic stand‐alone GPS approach when compared with GPS/inertial navigation system (INS) integrated navigation results. Copyright © 2015 John Wiley & Sons, Ltd.     

GPS与惯性导航系统融合的精确连续定位算法

为了克服独立的惯性导航系统无限制的位置误差和 Ｇ Ｐ Ｓ的１ Ｈｚ 慢速数据修正速率的缺陷,本文提出了对两种具有不同输出数据速率运动传感器 Ｇ Ｐ Ｓ与 Ｉ Ｎ Ｓ融合算法,研究了五点二次和两点线性预测的高精度连续融合定位算法,真实 Ｇ Ｐ Ｓ数据和模拟 Ｉ Ｎ Ｓ数据融合的实验证明了该方法的正确性,为在中、高动态环境下的高精度实时连续定位提供了一种新的途径。     

基于正交移动双水下自主潜航器的水下合作目标定位方法

利用水下自主潜航器(AUV)定位是水下大区域静止目标定位主要方法之一。针对单AUV定位存在的定位周期长,定位覆盖区域低,长时间定位误差累积大的缺陷,该文提出一种基于正交运动的双AUV的静止目标定位方法。每个AUV通过自身携带的惯性导航系统(INS)和多普勒计程仪进行自身定位,并在多次运动过程中通过与静止目标间的通信时延差测量进行定位。该方法需要2个相对航向角呈90°的正交移动AUV通过最少2次与静止目标间通信完成次定位。相比于传统的单移动传感器定位方法,该算法需要的定位周期更短,对同步要求更低。实验结果表明,该方法定位精度有显著提高,同时有效定位区域增大,在长时间定位过程中对AUV位置误差影响更低。     

Performance of a MANET directional MAC protocol with angle‐of‐arrival estimation

The use of directional antennas in mobile ad hoc networks (MANETs) has shown to offer large throughput gains relative to omnidirectional antennas. When used in ad hoc networks, directional medium‐access‐control (DMAC) protocols usually require all nodes, or part of nodes, to be aware of their exact locations. This location information is typically provided using a global positioning system (GPS). Although GPS systems are designed to be as nearly accurate as possible, there are still estimation errors that can cause a relatively large deviation from the actual GPS receiver position. In this paper, we investigate the effect of inaccurate node position estimation on the throughput of these protocols. Our results clearly indicate that the advantages of DMAC protocols diminish if the available position information is not accurate enough. As an alternative, we propose an efficient DMAC protocol that utilizes signal parameter estimation via the rotational invariance technique (ESPRIT) for direction‐of‐arrival (DOA) estimation; alleviating the need for GPS and, hence, avoiding the degrading associated with typical GPS position estimation errors. Moreover, unlike GPS‐based protocols, our protocol is suitable for both outdoor and indoor applications. Under different operating conditions and channel models, our simulation results show the throughput improvement achieved using the proposed protocol relative to the IEEE 802.11. Copyright © 2007 John Wiley & Sons, Ltd.