• Title/Summary/Keyword: Cooperative positioning

검색결과 31건 처리시간 0.019초

Cooperative Positioning System Using Density of Nodes (노드의 밀도를 이용한 상호 협력 위치 측정 시스템)

  • Son, Cheol-Su;Yoo, Nem-Hyun;Kim, Wong-Jung
    • Journal of the Korea Institute of Information and Communication Engineering
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    • 제11권1호
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    • pp.198-205
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    • 2007
  • In ubiquitous environment a user can be provided with context-aware services based on his or her current location, time, and atmosphere. LBS(Location-Based Services) play an important role for ubiquitous context-aware computing. Because deployment and maintenance of this specialized equipment is costly, many studies have been conducted on positioning using only wireless equipment under a wireless LAN infrastructure. Because a CPS(Cooperative Positioning System) that uses the RSSI (Received Signal Strength Indicator) between mobile equipments is more accurate than beacon based positioning system, it requires great concentration in its applications. This study investigates the relationship between nodes by analyzing a WiPS (Wireless LAN indoor Positioning System), a similar type of CPS, and proposes a improved WiCOPS-d(Wireless Cooperative Positioning System using node density) to increase performance by determining the convergence adjustment factor based on node density.

Radio Frequency Based Emergency Exit Node Technology

  • Choi, Youngwoo;Kim, Dong Kyoo;Kang, Do Wook;Choi, Wan Sik
    • Journal of Positioning, Navigation, and Timing
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    • 제2권1호
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    • pp.91-100
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    • 2013
  • This paper introduces an indoor sensor fusion wireless communication device which provides the Location Based Service (LBS) using fire prevention facility. The proposed system can provide information in real time by optimizing the hardware of Wi-Fi technology. The proposed system can be applied to a fire prevention facility (i.e., emergency exit) and provide information such as escape way, emergency exit location, and accident alarm to smart phone users, dedicated terminal holders, or other related organizations including guardians, which makes them respond instantly with lifesaving, emergency mobilization, etc. Also, the proposed system can be used as a composite fire detection sensor node with additional fire and motion detect sensors.

TWR based Cooperative Localization of Multiple Mobile Robots for Search and Rescue Application (재난 구조용 다중 로봇을 위한 GNSS 음영지역에서의 TWR 기반 협업 측위 기술)

  • Lee, Chang-Eun;Sung, Tae-Kyung
    • The Journal of Korea Robotics Society
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    • 제11권3호
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    • pp.127-132
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    • 2016
  • For a practical mobile robot team such as carrying out a search and rescue mission in a disaster area, the localization have to be guaranteed even in an environment where the network infrastructure is destroyed or a global positioning system (GPS) is unavailable. The proposed architecture supports localizing robots seamlessly by finding their relative locations while moving from a global outdoor environment to a local indoor position. The proposed schemes use a cooperative positioning system (CPS) based on the two-way ranging (TWR) technique. In the proposed TWR-based CPS, each non-localized mobile robot act as tag, and finds its position using bilateral range measurements of all localized mobile robots. The localized mobile robots act as anchors, and support the localization of mobile robots in the GPS-shadow region such as an indoor environment. As a tag localizes its position with anchors, the position error of the anchor propagates to the tag, and the position error of the tag accumulates the position errors of the anchor. To minimize the effect of error propagation, this paper suggests the new scheme of full-mesh based CPS for improving the position accuracy. The proposed schemes assuring localization were validated through experiment results.

Analysis of Error Propagation in Two-way-ranging-based Cooperative Positioning System (TWR 기반 군집 협업측위 시스템의 오차 전파 분석)

  • Lim, Jeong-Min;Lee, Chang-Eun;Sung, Tae-Kyung
    • Journal of Institute of Control, Robotics and Systems
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    • 제21권9호
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    • pp.898-902
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    • 2015
  • Alternative radio-navigation technologies aim at providing continuous navigation solution even if one cannot use GNSS (Global Navigation Satellite System). In shadowing region such as indoor environment, GNSS signal is no longer available and the alternative navigation system should be used together with GNSS to provide seamless positioning. For soldiers in battlefield where GNSS signal is jammed or in street battle, the alternative navigation system should work without positioning infrastructure. Moreover, the radio-navigation system should have scalability as well as high accuracy performance. This paper presents a TWR (Two-Way-Ranging)-based cooperative positioning system (CPS) that does not require location infrastructure. It is assumed that some members of CPS can obtain GNSS-based position and they are called mobile anchors. Other members unable to receive GNSS signal compute their position using TWR measurements with mobile anchors and neighboring members. Error propagation in CPS is analytically studied in this paper. Error budget for TWR measurements is modeled first. Next, location error propagation in CPS is derived in terms of range errors. To represent the location error propagation in the CPS, Location Error Propagation Indicator (LEPI) is proposed in this paper. Simulation results show that location error of tags in CPS is mainly influenced by the number of hops from anchors to the tag to be positioned as well as the network geometry of CPS.

Positioning Scheme using Acceleration Factor for Wireless Sensor Networks

  • Park, Na-Yeon;Son, Cheol-Su;Lee, Sung-Jae;Hwang, In-Moon;Kim, Won-Jung
    • Journal of information and communication convergence engineering
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    • 제6권4호
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    • pp.459-465
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    • 2008
  • Locations of nodes as well as gathered data from nodes are very important because generally multiple nodes are deployed randomly and data are gathered in wireless sensor network. Since the nodes composing wireless sensor network are low cost and low performance devices, it is very difficult to add specially designed devices for positioning into the nodes. Therefore in wireless sensor network, technology positioning nodes precisely using low cost is very important and valuable. This research proposes Cooperative Positioning System, which raises accuracy of location positioning and also can find positions on multiple sensors within limited times.

A Novel Localization Algorithm using Received Signal Strength Difference

  • Lim, Deok Won;Seo, Jae-Hee;Chun, Sebum;Heo, Moon Beom
    • Journal of Positioning, Navigation, and Timing
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    • 제6권4호
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    • pp.141-147
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    • 2017
  • In this paper, an efficient and robust localization algorithm using Receiver Signal Strength Difference (RSSD) for a non-cooperative RF emitter is given. The proposed algorithm firstly calculate the center point and radius of Apollonius's circles and then estimate the intersection point of the circles based on Time of Arrival concept. And this paper also compares the performance of RSSD localization algorithms such as Non-linear Least Squares and Linearized Least Squares by Lines of Position (LOP) with the proposed algorithm. And some conclusions have been reached regarding the relative accuracy, robustness and computational cost of these algorithms.

Seamless Routing and Cooperative Localization of Multiple Mobile Robots for Search and Rescue Application

  • Lee, Chang-Eun;Im, Hyun-Ja;Lim, Jeong-Min;Cho, Young-Jo;Sung, Tae-Kyung
    • ETRI Journal
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    • 제37권2호
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    • pp.262-272
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    • 2015
  • In particular, for a practical mobile robot team to perform such a task as that of carrying out a search and rescue mission in a disaster area, the network connectivity and localization have to be guaranteed even in an environment where the network infrastructure is destroyed or a Global Positioning System is unavailable. This paper proposes the new collective intelligence network management architecture of multiple mobile robots supporting seamless network connectivity and cooperative localization. The proposed architecture includes a resource manager that makes the robots move around and not disconnect from the network link by considering the strength of the network signal and link quality. The location manager in the architecture supports localizing robots seamlessly by finding the relative locations of the robots as they move from a global outdoor environment to a local indoor position. The proposed schemes assuring network connectivity and localization were validated through numerical simulations and applied to a search and rescue robot team.

Improved Localization of Unmanned Underwater Vehicle via Cooperative Navigation of Unmanned Surface Vehicle Equipped with Ultrashort Baseline (초단기선 탑재 무인수상선의 협력 항법을 통한 무인잠수정의 위치인식 향상)

  • Seunghyuk Choi;Youngchol Choi;Jongdae Jung
    • Journal of Sensor Science and Technology
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    • 제33권5호
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    • pp.391-398
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    • 2024
  • Accurate positioning is essential for unmanned underwater vehicle (UUV) operations, particularly for long-term survey missions. To reduce the inherent positioning errors from the inertial navigation systems of UUVs, or dead reckoning, underwater terrain observations from sonar sensors are typically exploited. Within the framework of pose-graph optimization, we can generate submaps of the seafloor and use them to add loop-closure constraints to the pose graph by determining the best match between the submaps. However, this approach results in error accumulation in long-term operations because the quality of local submaps depends on the dead reckoning. Hence, we can adopt external acoustic positioning systems, such as an ultrashort baseline (USBL), to add global constraints to the existing pose graph. We assume that the acoustic transponder is installed on a UUV and that the acoustic transceiver is equipped in an unmanned surface vehicle trailing the UUV to maintain an acoustic connection between the vehicles. We simulate the terrain and USBL measurements as well as evaluate the performance of the UUV's pose estimation via online pose-graph optimization.

The Efficient Computation of Node Position on Mobile Sensor Network (모바일 센서 네트워크에서 효율적인 노드 위치 결정)

  • Park, Na-Yeon;Son, Cheol-Su;Kim, Won-Jung
    • The Journal of the Korea institute of electronic communication sciences
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    • 제5권4호
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    • pp.391-398
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    • 2010
  • Because mobile sensor network is different with the existing wireless sensor network with fixed nodes, it is more difficult to implement a positioning algorithm in mobile sensor network than in mobile sensor network. In case of fast moving node, a positioning algorithm may be not completed in a given time. In this paper we present the positioning algorithm that improves performance and can complete a computation in time on mobile sensor network.

HEVA: Cooperative Localization using a Combined Non-Parametric Belief Propagation and Variational Message Passing Approach

  • Oikonomou-Filandras, Panagiotis-Agis;Wong, Kai-Kit
    • Journal of Communications and Networks
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    • 제18권3호
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    • pp.397-410
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    • 2016
  • This paper proposes a novel cooperative localization method for distributed wireless networks in 3-dimensional (3D) global positioning system (GPS) denied environments. The proposed method, which is referred to as hybrid ellipsoidal variational algorithm (HEVA), combines the use of non-parametric belief propagation (NBP) and variational Bayes (VB) to benefit from both the use of the rich information in NBP and compact communication size of a parametric form. InHEVA, two novel filters are also employed. The first one mitigates non-line-of-sight (NLoS) time-of-arrival (ToA) messages, permitting it to work well in high noise environments with NLoS bias while the second one decreases the number of calculations. Simulation results illustrate that HEVA significantly outperforms traditional NBP methods in localization while requires only 50% of their complexity. The superiority of VB over other clustering techniques is also shown.