A framework for positioning, navigation, and tracking problems using particle filters (sequential Monte Carlo methods) is developed. It consists of a class of motion models and a general nonlinear measurement equation in position. A general algorithm is presented, which is parsimonious with the particle dimension. It is based on marginalization, enabling a Kalman filter to estimate all position derivatives, and the particle filter becomes low dimensional. This is of utmost importance for high-performance real-time applications. Automotive and airborne applications illustrate numerically the advantage over classical Kalman filter-based algorithms. Here, the use of nonlinear models and non-Gaussian noise is the main explanation for the improvement in accuracy. More specifically, we describe how the technique of map matching is used to match an aircraft's elevation profile to a digital elevation map and a car's horizontal driven path to a street map. In both cases, real-time implementations are available, and tests have shown that the accuracy in both cases is comparable with satellite navigation (as GPS) but with higher integrity. Based on simulations, we also argue how the particle filter can be used for positioning based on cellular phone measurements, for integrated navigation in aircraft, and for target tracking in aircraft and cars. Finally, the particle filter enables a promising solution to the combined task of navigation and tracking, with possible application to airborne hunting and collision avoidance systems in cars.

/pdf/particle-filters-for-positioning-navigation-and-tracking-2581dh3ur8.pdf

Particle filters for positioning, navigation, and tracking

Indoor localization has recently witnessed an increase in interest, due to the potential wide range of services it can provide by leveraging Internet of Things (IoT), and ubiquitous connectivity. Different techniques, wireless technologies and mechanisms have been proposed in the literature to provide indoor localization services in order to improve the services provided to the users. However, there is a lack of an up-to-date survey paper that incorporates some of the recently proposed accurate and reliable localization systems. In this paper, we aim to provide a detailed survey of different indoor localization techniques, such as angle of arrival (AoA), time of flight (ToF), return time of flight (RTOF), and received signal strength (RSS); based on technologies, such as WiFi, radio frequency identification device (RFID), ultra wideband (UWB), Bluetooth, and systems that have been proposed in the literature. This paper primarily discusses localization and positioning of human users and their devices. We highlight the strengths of the existing systems proposed in the literature. In contrast with the existing surveys, we also evaluate different systems from the perspective of energy efficiency, availability, cost, reception range, latency, scalability, and tracking accuracy. Rather than comparing the technologies or techniques, we compare the localization systems and summarize their working principle. We also discuss remaining challenges to accurate indoor localization.

A Survey of Indoor Localization Systems and Technologies

Positioning in wireless networks is mainly used for safety, gaming, and commercial services It is expected to increase in popularity when emergency call services become mandatory as well as with the advent of more advanced location-based services and mobile gaming In this article, we discuss and illustrate the possibilities and fundamental limitations associated with mobile positioning based on available wireless network measurements The possibilities include a sensor fusion approach and model-based filtering, while the fundamental limitations provide hard bounds on the accuracy of position estimates, given the information in the measurements in the most favorable situation The focus of this article is to illustrate the relation between performance requirements, such as those stated by the Federal Communications Commission (FCC), and the available measurements Specific issues on accuracy limitation in each measurement, such as synchronization and multipath problems, are briefly commented upon A geometrical example, as well as a realistic example adopted from a cell planning tool, are used for illustration

Mobile positioning using wireless networks: possibilities and fundamental limitations based on available wireless network measurements

Map-matching algorithms integrate positioning data with spatial road network data (roadway centrelines) to identify the correct link on which a vehicle is travelling and to determine the location of a vehicle on a link. A map-matching algorithm could be used as a key component to improve the performance of systems that support the navigation function of intelligent transport systems (ITS). The required horizontal positioning accuracy of such ITS applications is in the range of 1 m to 40 m (95%) with relatively stringent requirements placed on integrity (quality), continuity and system availability. A number of map-matching algorithms have been developed by researchers around the world using different techniques such as topological analysis of spatial road network data, probabilistic theory, Kalman filter, fuzzy logic, and belief theory. The performances of these algorithms have improved over the years due to the application of advanced techniques in the map matching processes and improvements in the quality of both positioning and spatial road network data. However, these algorithms are not always capable of supporting ITS applications with high required navigation performance, especially in difficult and complex environments such as dense urban areas. This suggests that research should be directed at identifying any constraints and limitations of existing map matching algorithms as a prerequisite for the formulation of algorithm improvements. The objectives of this paper are thus to uncover the constraints and limitations by an in-depth literature review and to recommend ideas to address them. This paper also highlights the potential impacts of the forthcoming European Galileo system and the European Geostationary Overlay Service (EGNOS) on the performance of map matching algorithms. Although not addressed in detail, the paper also presents some ideas for monitoring the integrity of map-matching algorithms. The map-matching algorithms considered in this paper are generic and do not assume knowledge of ‘future’ information (i.e. based on either cost or time). Clearly, such data would result in relatively simple map-matching algorithms.

/pdf/current-map-matching-algorithms-for-transport-applications-1mx9nib3cv.pdf

Current map-matching algorithms for transport applications: State-of-the art and future research directions

Recent developments have demonstrated that particle filtering is an emerging and powerful methodology, using Monte Carlo methods, for sequential signal processing with a wide range of applications in science and engineering. It has captured the attention of many researchers in various communities, including those of signal processing, statistics and econometrics. Based on the concept of sequential importance sampling and the use of Bayesian theory, particle filtering is particularly useful in dealing with difficult nonlinear and non-Gaussian problems. The underlying principle of the methodology is the approximation of relevant distributions with random measures composed of particles (samples from the space of the unknowns) and their associated weights. First, we present a brief review of particle filtering theory; and then we show how it can be used for resolving many problems in wireless communications. We demonstrate its application to blind equalization, blind detection over flat fading channels, multiuser detection, and estimation and detection of space-time codes in fading channels.

Particle filtering

http://www.diva-portal.org/smash/get/diva2:315988/FULLTEXT02

Closed-loop identification revisited

Brief Some results on optimal experiment design

System identification deals with constructing mathematical models of dynamical systems from measured data. Such models have important applications in many technical and nontechnical areas, such as ...

Closed-loop Identification : Methods, Theory, and Applications

A sensor system for combining first and second sensor signals, and generating a physical parameter values dependent on said sensor signals used in autocalibrating sensors improving the performance and quality of existing sensor signals and virtual sensors realising new sensors by combining and integrating in adaptive filter models sensor signals representing same or different types of physical parameters.

Urban Forssell

Papers

Particle filters for positioning, navigation, and tracking

Closed-loop identification revisited

Brief Some results on optimal experiment design

Closed-loop Identification : Methods, Theory, and Applications

Adaptive filter model for motor vehicle sensor signals