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- De Angelis, Alessio, et al.
(författare)
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A distributed information fusion method for localization based on Pareto optimization
- 2011
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Ingår i: 7th IEEE International Conference on Distributed Computing in Sensor Systems(DCOSS). - 9781457705137
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Konferensbidrag (refereegranskat)abstract
- To overcome the limitations of specific positioning techniques for mobile wireless nodes and achieve a high accuracy, the fusion of heterogeneous sensor information is an appealing strategy. In this paper, the problem of optimal fusion of ranging information typically provided by Ultra-Wideband radio with speed and absolute orientation information is addressed. A new distributed recursive estimation method is proposed. The method does not assume any motion model of mobile nodes and is based on a Pareto optimization. The challenging part of the new estimator is the characterization of the statistical information needed to model the optimization problem. The proposed estimator is validated by Monte Carlo simulations, and the performance is compared to several Kalman-based filters commonly employed for localization and sensor fusion. Much better performance is achieved, but at the price of an increased computational complexity.
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- De Angelis, Alessio, et al.
(författare)
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A flexible UWB sensor for indoor localization
- 2012
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Ingår i: 2012 IEEE I2MTC - International Instrumentation and Measurement Technology Conference, Proceedings. - : IEEE. - 9781457717710 ; , s. 2357-2360
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Konferensbidrag (refereegranskat)abstract
- This paper presents a research activity aimed at developing an Ultra-Wideband sensor for personnel indoor localization, based on the round trip time measurement of Ultra-Wideband pulses. An approach combining flexibility, high measurement update rate and asynchronous operation with digital processing capability has been employed in the design of the sensor. The principle of operation of the proposed sensor, the architecture of the realized in-house test bed and the experimental setup are described and discussed.
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- De Angelis, Alessio, et al.
(författare)
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A Low-Cost Ultra-Wideband Indoor Ranging System
- 2009
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Ingår i: IEEE Transactions on Instrumentation and Measurement. - 0018-9456 .- 1557-9662. ; 58:12, s. 3935-3942
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Tidskriftsartikel (refereegranskat)abstract
- This paper presents the development of a low-cost indoor ranging technique based on time-of-arrival (TOA) estimation, using short-pulse ultra-wideband (UWB) signals. The realized system includes two identical UWB transceiver devices, in which the receiver section is based on a tunnel diode detector and the pulse generation is performed by a common bipolar transistor driven in avalanche mode. An indirect measurement of the distance between the devices is obtained by measuring the frequency of the generated pulse train. A theoretical model of the system is described, and a statistical analysis is presented, including the closed-form evaluation of the Cramer-Rao lower bound (CRLB) on the distance estimation and showing the asymptotic statistical efficiency of the proposed estimators. Furthermore, the principle of operation of the realized system prototypes is described, along with some implementation issues. Finally, experimental results are shown and discussed.
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- De Angelis, Alessio, et al.
(författare)
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A low-cost ultra-wideband indoor ranging technique
- 2007
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Ingår i: 2007 24th IEEE Instrumentation and Measurement Technology Conference, VOLS 1-5. ; , s. 1308-1313
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Konferensbidrag (refereegranskat)abstract
- This paper presents the development of a low-cost indoor ranging technique based on Time-Of-Arrival (TOA) estimation, using Short-Pulse Ultra-Wideband (UWB) signals. The realized system includes two identical UWB transceiver devices, in which the receiver section is based on a tunnel diode detector and the pulse generation is performed by a common bipolar transistor driven in avalanche mode. An indirect measurement of the distance between the devices is obtained by measuring the frequency of the generated pulse train. A theoretical model of the system is described and a statistical analysis is presented, including the evaluation of the Cramer-Rao Lower Bound (CRLB) on the distance estimation. Furthermore the principle of operation of the realized system prototypes is described, along with some implementation issues. Finally experimental results are shown and discussed.
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- De Angelis, Alessio, et al.
(författare)
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A Sensor Fusion Algorithm for Mobile Node Localization
- 2011
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Ingår i: 18th World Congress of the International Federation of Automatic Control (IFAC).
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Konferensbidrag (refereegranskat)abstract
- Accurate distributed estimation of the position of network nodes is essential formany applications, including localization, geographic routing, and vehicular networks. When nodes are mobile and their mobility pattern is unknown, there are not yet adequate techniques to achieve high accuracy and low estimation errors. In this paper, a new distributed estimator of the position of mobile nodes is proposed. No model of the mobility is assumed. The estimator combines heterogeneous information coming from pre-existing ranging, speed, and angular measurements, which is jointly fused by an optimization problem where the squared mean and variance of the localization error is minimized. Challenges of this optimization are the characterization of the moments of the noises that affect the measurements. The estimator is distributed in that it requires only local processing and communication among the nodes of the network. Numerical results show that the proposed estimator outperforms traditionalapproaches based on the extended Kalman filter.
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- De Angelis, Alessio, et al.
(författare)
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A Vector Approach for Image Quality Assessment and Some Metrological Considerations
- 2009
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Ingår i: IEEE Transactions on Instrumentation and Measurement. - 0018-9456 .- 1557-9662. ; 58:1, s. 14-25
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Tidskriftsartikel (refereegranskat)abstract
- The main purpose of this paper is to present a metrology-based view of the image quality assessment (IQA) field. Three main topics are developed. First, the state of the art in the field of IQA is presented, providing a classification of some of the most important objective and subjective IQA methods. Then, some aspects of the field are analyzed from a metrological point of view, also through a comparison with the software quality measurement area. In particular, a statistical approach to the evaluation of the uncertainty for IQA objective methods is presented, and the topic of measurement modeling for subjective IQA methods is analyzed. Finally, a vector approach for full-reference IQA is discussed, with applications to images corrupted by impulse and Gaussian noise. For these applications, the vector root mean squared error (VRMSE) and fuzzy VRMSE are introduced. These vector parameters provide a possible way to overcome the main limitations of the mean-squared-error-based IQA methods.
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- De Angelis, Alessio, et al.
(författare)
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An Experimental UWB Distance Measurement System
- 2008
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Ingår i: 25th IEEE Instrumentation and Measurement Technology Conference, VOLS 1-5. ; , s. 1016-1020
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Konferensbidrag (refereegranskat)abstract
- This paper presents a distance-measuring system based on the accurate round-trip time-of-flight measurement of single Ultra-Wideband pulses, propagating between two transceiver devices. The architectures of two realized devices, referred to as master and slave, are described The master device implements the time-interval measuring function, by means of a Time-to-Digital Converter integrated circuit, while the slave acts as pulse repeater Both devices are designed for low-cost realization and low-power operations. This paper also presents and discusses some experimental results obtained from the system prototype. Finally, some numerical simulations results are shown, which could provide an explanation for the non-idealities in the observed distance-measuring behaviour of the system.
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