The existing active tag-based radio frequency identi-fication(RFID)localization techniques show low accuracy in practical applications.To address such problems,we propose a chaotic adaptive genetic algorithm to align ...The existing active tag-based radio frequency identi-fication(RFID)localization techniques show low accuracy in practical applications.To address such problems,we propose a chaotic adaptive genetic algorithm to align the passive tag ar-rays.We use chaotic sequences to generate the intersection points,the weakest single point intersection is used to ensure the convergence accuracy of the algorithm while avoiding the optimization jitter problem.Meanwhile,to avoid the problem of slow convergence and immature convergence of the algorithm caused by the weakening of individual competition at a later stage,we use adaptive rate of change to improve the optimiza-tion efficiency.In addition,to remove signal noise and outliers,we preprocess the data using Gaussian filtering.Experimental results demonstrate that the proposed algorithm achieves high-er localization accuracy and improves the convergence speed.展开更多
Global navigation satellite system could provide accurate positioning results in signal complete condition. However, the performance is severe when signal denied, especially for the single-mode Bei Dou receiver. This ...Global navigation satellite system could provide accurate positioning results in signal complete condition. However, the performance is severe when signal denied, especially for the single-mode Bei Dou receiver. This paper proposes a dual-satellite positioning algorithm to promote the positioning performance in the satellite signal gap. The new algorithm utilizes the previous positioning data stored in complete condition to simplify the positioning equations. As the clock bias persists for a short period, this proposed method could work out accurate positioning results by only two visible satellites, without the need of computing the clock bias. Also, the Kalman filtering algorithm is used to smooth the trajectories, and improve the positioning results. During the incomplete period, only two satellites for 30 seconds and three satellites for 60 seconds, the preliminary experiment result shows that, the presented method could provide almost the same positioning results as in complete condition.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
This note deals with how to position bricks so that m aximizing the numbers of whole brick in a given area. A method by genetic algori thm is given to solve this problem. By this method, the numbers of whole brick a n...This note deals with how to position bricks so that m aximizing the numbers of whole brick in a given area. A method by genetic algori thm is given to solve this problem. By this method, the numbers of whole brick a nd their position are gained when given areas are convex polygon and brick is re ctangular, and you can easily design a CAD soft to optimize the scheme of positi oning bricks. It is huge advantage by this method when given areas are nonregula r. Some rules of parameter’s influence to algorithm are pointed out by computer simulation. The first section states the problem and the math model of problem is given out. The second section gives out the solution by genetic algorithm, in cluding description of genetic algorithm and steps of algorithm about proble m of positioning bricks. The third section gives a computer simulation example. The last section is some discussions about this algorithm, including the influen ce of parameter to algorithm and optimizing parameter. Some rule is gained.展开更多
This paper presents a new distributed positioning algorithm for unknown nodes in a wireless sensor network. The algorithm is based exclusively on connectivity. First, assuming that the positions of the anchor nodes ar...This paper presents a new distributed positioning algorithm for unknown nodes in a wireless sensor network. The algorithm is based exclusively on connectivity. First, assuming that the positions of the anchor nodes are already known, a circular belt containing an unknown node is obtained using information about the anchor nodes that are in radio range of the unknown node, based on the geometric relationships and communication constraints among the unknown node and the anchor nodes. Then, the centroid of the circular belt is taken to be the estimated position of the unknown node. Since the algorithm is very simple and since the only communication needed is between the anchor nodes and the unknown node, the communication and computational loads are very small. Furthermore, the algorithm is robust because neither the failure of old unknown nodes nor the addition of new unknown nodes influences the positioning of unknown nodes to be located. A theoretical analysis and simulation results show that the algorithm does not produce any cumulative error and is insensitive to range error, and that a change in the number of sensor nodes does not affect the communication or computational load. These features make this algorithm suitable for all sizes of low-power wireless sensor networks.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
Precise information on indoor positioning provides a foundation for position-related customer services.Despite the emergence of several indoor positioning technologies such as ultrawideband,infrared,radio frequency id...Precise information on indoor positioning provides a foundation for position-related customer services.Despite the emergence of several indoor positioning technologies such as ultrawideband,infrared,radio frequency identification,Bluetooth beacons,pedestrian dead reckoning,and magnetic field,Wi-Fi is one of the most widely used technologies.Predominantly,Wi-Fi fingerprinting is the most popular method and has been researched over the past two decades.Wi-Fi positioning faces three core problems:device heterogeneity,robustness to signal changes caused by human mobility,and device attitude,i.e.,varying orientations.The existing methods do not cover these aspects owing to the unavailability of publicly available datasets.This study introduces a dataset that includes the Wi-Fi received signal strength(RSS)gathered using four different devices,namely Samsung Galaxy S8,S9,A8,LG G6,and LG G7,operated by three surveyors,including a female and two males.In addition,three orientations of the smartphones are used for the data collection and include multiple buildings with a multifloor environment.Various levels of human mobility have been considered in dynamic environments.To analyze the time-related impact on Wi-Fi RSS,data over 3 years have been considered.展开更多
Wi-Fi indoor positioning system has received increasing interest in pervasive computing applications due to its low cost and satisfactory accuracy. To obtain high positioning accuracy based on source limited devices, ...Wi-Fi indoor positioning system has received increasing interest in pervasive computing applications due to its low cost and satisfactory accuracy. To obtain high positioning accuracy based on source limited devices, various AP selection strategies have been proposed to select the most discriminant APs for positioning. In this paper, we propose a spatially localized AP selection method based on joint location information gain. In contrast to traditional AP selection methods which measure the discriminant ability of APs independently, we consider choosing APs jointly. By considering the correlation of the discriminant ability between different APs, more accurate measure of the discriminant ability of APs can be taken. Furthermore, since the optimal AP selection solution varies spatially, we incorporate a location clustering method to localize AP selection and subsequent positioning process. Finally, support vector regression (SVR) algorithm is combined to estimate the location. Experiments are carried in a realistic Wi-Fi indoor environment. Experimental results show that, by using the localized joint AP selection strategy, the proposed positioning method achieves a high-level accuracy while reducing the energy consumption on client devices significantly.展开更多
This paper presents a new method of improving Global Positioning System(GPS)positioning precision. Based on the altitude hold mode, the method does not need any other equipment. Under this constraint condition, the To...This paper presents a new method of improving Global Positioning System(GPS)positioning precision. Based on the altitude hold mode, the method does not need any other equipment. Under this constraint condition, the Total Least Squares(TLS) algorithm is used to prove that the method is effective. Theoretical analysis shows that the algorithm can significantly improve the GPS positioning precision.展开更多
Technologies of underground mobile positioning were proposed based on LiDAR data and coded sequence pattern landmarks for mine shafts and tunnels environment to meet the needs of fast and accurate positioning and navi...Technologies of underground mobile positioning were proposed based on LiDAR data and coded sequence pattern landmarks for mine shafts and tunnels environment to meet the needs of fast and accurate positioning and navigation of equipments in the mine underground without satellite navigation signals. A coded sequence pattern was employed for automatic matching of 3D scans. The methods of SIFT feature, Otsu segmentation and fast hough transformation were described for the identification, positioning and interpretation of the coded sequence patterns, respectively. The POSIT model was presented for speeding up computation of the translation and rotation parameters of LiDAR point data, so as to achieve automatic 3D mapping of mine shafts and tunnels. The moving positioning experiment was applied to evaluating the accuracy of proposed pose estimation method from LiDAR scans and coded sequence pattern landmarks acquired in an indoor environment. The performance was evaluated using ground truth data of the indoor setting so as to measure derivations with six degrees of freedom.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
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
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
In this paper,we study the nonlinear matrix equation X-A^(H)X^(-1)A=Q,where A,Q∈C^(n×n),Q is a Hermitian positive definite matrix and X∈C^(n×n)is an unknown matrix.We prove that the equation always has a u...In this paper,we study the nonlinear matrix equation X-A^(H)X^(-1)A=Q,where A,Q∈C^(n×n),Q is a Hermitian positive definite matrix and X∈C^(n×n)is an unknown matrix.We prove that the equation always has a unique Hermitian positive definite solution.We present two structure-preserving-doubling like algorithms to find the Hermitian positive definite solution of the equation,and the convergence theories are established.Finally,we show the effectiveness of the algorithms by numerical experiments.展开更多
As increase of disk access speed has far lagged the speed of processors and main memory, disk-scheduling performance, although less significant for personal users with dedicated storage, is crucial for internet-based ...As increase of disk access speed has far lagged the speed of processors and main memory, disk-scheduling performance, although less significant for personal users with dedicated storage, is crucial for internet-based intensive data processing. For modern disks, increase of disk rotation rate makes overhead of disk access to data transfer heavier. Therefore, it seems more important to improve both parallel processing capability of disk I/O and disk-scheduling performance at the same time. For disk-scheduling algorithms based on both disk arm and rotational positions, their time-resolving powers are more precise in comparison with those for disk-scheduling algorithms based only on disk arm position. Algorithms of this sort are studied in this paper. Several improved algorithms based on rotational position are proposed, and simulation results of their performances demonstrate.展开更多
A new iterative method,which is called positive interior-point algorithm,is presented for solving the nonlinear complementarity problems.This method is of the desirable feature of robustness.And the convergence theore...A new iterative method,which is called positive interior-point algorithm,is presented for solving the nonlinear complementarity problems.This method is of the desirable feature of robustness.And the convergence theorems of the algorithm is established.In addition,some numerical results are reported.展开更多
To guarantee the optimal reduct set, a heuristic reduction algorithm is proposed, which considers the distinguishing information between the members of each pair decision classes. Firstly the pairwise positive region ...To guarantee the optimal reduct set, a heuristic reduction algorithm is proposed, which considers the distinguishing information between the members of each pair decision classes. Firstly the pairwise positive region is defined, based on which the pairwise significance measure is calculated between the members of each pair classes. Finally the weighted pairwise significance of attribute is used as the attribute reduction criterion, which indicates the necessity of attributes very well. By introducing the noise tolerance factor, the new algorithm can tolerate noise to some extent. Experimental results show the advantages of our novel heuristic reduction algorithm over the traditional attribute dependency based algorithm.展开更多
To solve low precision and poor stability of the extended Kalman filter (EKF) in the vehicle integrated positioning system owing to acceleration, deceleration and turning (hereinafter referred to as maneuvering) ,...To solve low precision and poor stability of the extended Kalman filter (EKF) in the vehicle integrated positioning system owing to acceleration, deceleration and turning (hereinafter referred to as maneuvering) , the paper presents an adaptive filter algorithm that combines interacting multiple model (IMM) and non linear Kalman filter. The algorithm describes the motion mode of vehicle by using three state spacemode]s. At first, the parallel filter of each model is realized by using multiple nonlinear filters. Then the weight integration of filtering result is carried out by using the model matching likelihood function so as to get the system positioning information. The method has advantages of nonlinear system filter and overcomes disadvantages of single model of filtering algorithm that has poor effects on positioning the maneuvering target. At last, the paper uses IMM and EKF methods to simulate the global positioning system (OPS)/inertial navigation system (INS)/dead reckoning (DR) integrated positioning system, respectively. The results indicate that the IMM algorithm is obviously superior to EKF filter used in the integrated positioning system at present. Moreover, it can greatly enhance the stability and positioning precision of integrated positioning system.展开更多
基金supported by the Aviation Science Foundation(ASFC-20181352009).
文摘The existing active tag-based radio frequency identi-fication(RFID)localization techniques show low accuracy in practical applications.To address such problems,we propose a chaotic adaptive genetic algorithm to align the passive tag ar-rays.We use chaotic sequences to generate the intersection points,the weakest single point intersection is used to ensure the convergence accuracy of the algorithm while avoiding the optimization jitter problem.Meanwhile,to avoid the problem of slow convergence and immature convergence of the algorithm caused by the weakening of individual competition at a later stage,we use adaptive rate of change to improve the optimiza-tion efficiency.In addition,to remove signal noise and outliers,we preprocess the data using Gaussian filtering.Experimental results demonstrate that the proposed algorithm achieves high-er localization accuracy and improves the convergence speed.
基金partially supported by the National Natural Science Foundation of China under Grant No.61601296, 61601295, and 61671304
文摘Global navigation satellite system could provide accurate positioning results in signal complete condition. However, the performance is severe when signal denied, especially for the single-mode Bei Dou receiver. This paper proposes a dual-satellite positioning algorithm to promote the positioning performance in the satellite signal gap. The new algorithm utilizes the previous positioning data stored in complete condition to simplify the positioning equations. As the clock bias persists for a short period, this proposed method could work out accurate positioning results by only two visible satellites, without the need of computing the clock bias. Also, the Kalman filtering algorithm is used to smooth the trajectories, and improve the positioning results. During the incomplete period, only two satellites for 30 seconds and three satellites for 60 seconds, the preliminary experiment result shows that, the presented method could provide almost the same positioning results as in complete condition.
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.
文摘This note deals with how to position bricks so that m aximizing the numbers of whole brick in a given area. A method by genetic algori thm is given to solve this problem. By this method, the numbers of whole brick a nd their position are gained when given areas are convex polygon and brick is re ctangular, and you can easily design a CAD soft to optimize the scheme of positi oning bricks. It is huge advantage by this method when given areas are nonregula r. Some rules of parameter’s influence to algorithm are pointed out by computer simulation. The first section states the problem and the math model of problem is given out. The second section gives out the solution by genetic algorithm, in cluding description of genetic algorithm and steps of algorithm about proble m of positioning bricks. The third section gives a computer simulation example. The last section is some discussions about this algorithm, including the influen ce of parameter to algorithm and optimizing parameter. Some rule is gained.
基金This work was supported by the National Science Foundation of P.R.China(No.60425310)the Teaching and Research Award Program for Outstanding Young Teachers in Higher Education Institutions of the Ministry of Education,P.R.China (TRAPOYT).
文摘This paper presents a new distributed positioning algorithm for unknown nodes in a wireless sensor network. The algorithm is based exclusively on connectivity. First, assuming that the positions of the anchor nodes are already known, a circular belt containing an unknown node is obtained using information about the anchor nodes that are in radio range of the unknown node, based on the geometric relationships and communication constraints among the unknown node and the anchor nodes. Then, the centroid of the circular belt is taken to be the estimated position of the unknown node. Since the algorithm is very simple and since the only communication needed is between the anchor nodes and the unknown node, the communication and computational loads are very small. Furthermore, the algorithm is robust because neither the failure of old unknown nodes nor the addition of new unknown nodes influences the positioning of unknown nodes to be located. A theoretical analysis and simulation results show that the algorithm does not produce any cumulative error and is insensitive to range error, and that a change in the number of sensor nodes does not affect the communication or computational load. These features make this algorithm suitable for all sizes of low-power wireless sensor networks.
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This research was supported by the Ministry of Science and ICT(MSIT),Korea,under the Information Technology Research Center(ITRC)support program(IITP-2020-2016-0-00313)supervised by the Institute for Information&communications Technology Planning&Evaluation(IITP)This research was supported by Basic Science Research Program through the National Research Foundation of Korea(NRF)funded by the Ministry of Science,ICT and Future Planning(2017R1E1A1A01074345).
文摘Precise information on indoor positioning provides a foundation for position-related customer services.Despite the emergence of several indoor positioning technologies such as ultrawideband,infrared,radio frequency identification,Bluetooth beacons,pedestrian dead reckoning,and magnetic field,Wi-Fi is one of the most widely used technologies.Predominantly,Wi-Fi fingerprinting is the most popular method and has been researched over the past two decades.Wi-Fi positioning faces three core problems:device heterogeneity,robustness to signal changes caused by human mobility,and device attitude,i.e.,varying orientations.The existing methods do not cover these aspects owing to the unavailability of publicly available datasets.This study introduces a dataset that includes the Wi-Fi received signal strength(RSS)gathered using four different devices,namely Samsung Galaxy S8,S9,A8,LG G6,and LG G7,operated by three surveyors,including a female and two males.In addition,three orientations of the smartphones are used for the data collection and include multiple buildings with a multifloor environment.Various levels of human mobility have been considered in dynamic environments.To analyze the time-related impact on Wi-Fi RSS,data over 3 years have been considered.
基金Sponsored by the National High Technology Research and Development Program of China (Grant No. 2008AA12Z305)the China Postdoctoral ScienceFoundation Funded Project (Grant No. 20100471057)the Heilongjiang Province Postdoctoral Science Foundation Funded Project (Grant No. LRB09-464)
文摘Wi-Fi indoor positioning system has received increasing interest in pervasive computing applications due to its low cost and satisfactory accuracy. To obtain high positioning accuracy based on source limited devices, various AP selection strategies have been proposed to select the most discriminant APs for positioning. In this paper, we propose a spatially localized AP selection method based on joint location information gain. In contrast to traditional AP selection methods which measure the discriminant ability of APs independently, we consider choosing APs jointly. By considering the correlation of the discriminant ability between different APs, more accurate measure of the discriminant ability of APs can be taken. Furthermore, since the optimal AP selection solution varies spatially, we incorporate a location clustering method to localize AP selection and subsequent positioning process. Finally, support vector regression (SVR) algorithm is combined to estimate the location. Experiments are carried in a realistic Wi-Fi indoor environment. Experimental results show that, by using the localized joint AP selection strategy, the proposed positioning method achieves a high-level accuracy while reducing the energy consumption on client devices significantly.
文摘This paper presents a new method of improving Global Positioning System(GPS)positioning precision. Based on the altitude hold mode, the method does not need any other equipment. Under this constraint condition, the Total Least Squares(TLS) algorithm is used to prove that the method is effective. Theoretical analysis shows that the algorithm can significantly improve the GPS positioning precision.
基金Project(2011CB707102)supported by the National Basic Research Program of ChinaProjects(40901220,41001302)supported by the National Natural Science Foundation of China+1 种基金Project(122025)supported by Fok Ying Tong Education Foundation,ChinaProject(N100401009)supported by Fundamental Research Funds for Central Universities,China
文摘Technologies of underground mobile positioning were proposed based on LiDAR data and coded sequence pattern landmarks for mine shafts and tunnels environment to meet the needs of fast and accurate positioning and navigation of equipments in the mine underground without satellite navigation signals. A coded sequence pattern was employed for automatic matching of 3D scans. The methods of SIFT feature, Otsu segmentation and fast hough transformation were described for the identification, positioning and interpretation of the coded sequence patterns, respectively. The POSIT model was presented for speeding up computation of the translation and rotation parameters of LiDAR point data, so as to achieve automatic 3D mapping of mine shafts and tunnels. The moving positioning experiment was applied to evaluating the accuracy of proposed pose estimation method from LiDAR scans and coded sequence pattern landmarks acquired in an indoor environment. The performance was evaluated using ground truth data of the indoor setting so as to measure derivations with six degrees of freedom.
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 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This research is supported by the National Natural Science Foundation of China(No.11871444).
文摘In this paper,we study the nonlinear matrix equation X-A^(H)X^(-1)A=Q,where A,Q∈C^(n×n),Q is a Hermitian positive definite matrix and X∈C^(n×n)is an unknown matrix.We prove that the equation always has a unique Hermitian positive definite solution.We present two structure-preserving-doubling like algorithms to find the Hermitian positive definite solution of the equation,and the convergence theories are established.Finally,we show the effectiveness of the algorithms by numerical experiments.
基金Project supported by National Natural Science Foundation of Chi-na( Grant No . 60373088) , and Defense Pre-research Project ofChina(Grant No .413160502)
文摘As increase of disk access speed has far lagged the speed of processors and main memory, disk-scheduling performance, although less significant for personal users with dedicated storage, is crucial for internet-based intensive data processing. For modern disks, increase of disk rotation rate makes overhead of disk access to data transfer heavier. Therefore, it seems more important to improve both parallel processing capability of disk I/O and disk-scheduling performance at the same time. For disk-scheduling algorithms based on both disk arm and rotational positions, their time-resolving powers are more precise in comparison with those for disk-scheduling algorithms based only on disk arm position. Algorithms of this sort are studied in this paper. Several improved algorithms based on rotational position are proposed, and simulation results of their performances demonstrate.
文摘A new iterative method,which is called positive interior-point algorithm,is presented for solving the nonlinear complementarity problems.This method is of the desirable feature of robustness.And the convergence theorems of the algorithm is established.In addition,some numerical results are reported.
基金Sponsored by the Ministerial Level Advanced Research Foundation(11415133)
文摘To guarantee the optimal reduct set, a heuristic reduction algorithm is proposed, which considers the distinguishing information between the members of each pair decision classes. Firstly the pairwise positive region is defined, based on which the pairwise significance measure is calculated between the members of each pair classes. Finally the weighted pairwise significance of attribute is used as the attribute reduction criterion, which indicates the necessity of attributes very well. By introducing the noise tolerance factor, the new algorithm can tolerate noise to some extent. Experimental results show the advantages of our novel heuristic reduction algorithm over the traditional attribute dependency based algorithm.
基金National Natural Science Foundation of China(No.61663020)Project of Education Department of Gansu Province(No.2016B-036)
文摘To solve low precision and poor stability of the extended Kalman filter (EKF) in the vehicle integrated positioning system owing to acceleration, deceleration and turning (hereinafter referred to as maneuvering) , the paper presents an adaptive filter algorithm that combines interacting multiple model (IMM) and non linear Kalman filter. The algorithm describes the motion mode of vehicle by using three state spacemode]s. At first, the parallel filter of each model is realized by using multiple nonlinear filters. Then the weight integration of filtering result is carried out by using the model matching likelihood function so as to get the system positioning information. The method has advantages of nonlinear system filter and overcomes disadvantages of single model of filtering algorithm that has poor effects on positioning the maneuvering target. At last, the paper uses IMM and EKF methods to simulate the global positioning system (OPS)/inertial navigation system (INS)/dead reckoning (DR) integrated positioning system, respectively. The results indicate that the IMM algorithm is obviously superior to EKF filter used in the integrated positioning system at present. Moreover, it can greatly enhance the stability and positioning precision of integrated positioning system.