An IMU/UWB/Vision-based Extended Kalman Filter for Mini-UAV Localization in Indoor Environment using 802.15.4a Wireless Sensor Network

2012 ◽  
Vol 70 (1-4) ◽  
pp. 461-476 ◽  
Author(s):  
Alessandro Benini ◽  
Adriano Mancini ◽  
Sauro Longhi
Keyword(s):  
Kalman Filter ◽  
Wireless Sensor Network ◽  
Sensor Network ◽  
Extended Kalman Filter ◽  
Indoor Environment ◽  
Wireless Sensor

scholarly journals A Mobile Localization Method in Smart Indoor Environment Using Polynomial Fitting for Wireless Sensor Network

2020 ◽  
Vol 2020 ◽  
pp. 1-17 ◽  
Author(s):  
Yan Wang ◽  
Yang Yan ◽  
Zhengjian Li ◽  
Long Cheng
Keyword(s):  
Kalman Filter ◽  
Wireless Sensor Network ◽  
Sensor Network ◽  
Indoor Environment ◽  
Detection Threshold ◽  
Superior Performance ◽  
Wireless Sensor ◽  
Interacting Multiple Model ◽  
Multiple Model ◽  
Polynomial Fitting

The main factor affecting the localization accuracy is nonline of sight (NLOS) error which is caused by the complicated indoor environment such as obstacles and walls. To obviously alleviate NLOS effects, a polynomial fitting-based adjusted Kalman filter (PF-AKF) method in a wireless sensor network (WSN) framework is proposed in this paper. The method employs polynomial fitting to accomplish both NLOS identification and distance prediction. Rather than employing standard deviation of all historical data as NLOS detection threshold, the proposed method identifies NLOS via deviation between fitted curve and measurements. Then, it processes the measurements with adjusted Kalman filter (AKF), conducting weighting filter in the case of NLOS condition. Simulations compare the proposed method with Kalman filter (KF), adjusted Kalman filter (AKF), and Kalman-based interacting multiple model (K-IMM) algorithms, and the results demonstrate the superior performance of the proposed method. Moreover, experimental results obtained from a real indoor environment validate the simulation results.

scholarly journals A Robust Localization Algorithm Based on NLOS Identification and Classification Filtering for Wireless Sensor Network

Sensors ◽  
2020 ◽  
Vol 20 (22) ◽  
pp. 6634
Author(s):  
Long Cheng ◽  
Sihang Huang ◽  
Mingkun Xue ◽  
Yangyang Bi
Keyword(s):  
Kalman Filter ◽  
Wireless Sensor Network ◽  
Sensor Network ◽  
Extended Kalman Filter ◽  
Superior Performance ◽  
Wireless Sensor ◽  
Line Of Sight ◽  
Localization Algorithm ◽  
Positioning Accuracy ◽  
Robust Localization

With the rapid development of information and communication technology, the wireless sensor network (WSN) has shown broad application prospects in a growing number of fields. The non-line-of-sight (NLOS) problem is the main challenge to WSN localization, which seriously reduces the positioning accuracy. In this paper, a robust localization algorithm based on NLOS identification and classification filtering for WSN is proposed to solve this problem. It is difficult to use a single filter to filter out NLOS noise in all cases since NLOS cases are extremely complicated in real scenarios. Therefore, in order to improve the robustness, we first propose a NLOS identification strategy to detect the severity of NLOS, and then NLOS situations are divided into two categories according to the severity: mild NLOS and severe NLOS. Secondly, classification filtering is performed to obtain respective position estimates. An extended Kalman filter is applied to filter line-of-sight (LOS) noise. For mild NLOS, the large outliers are clipped by the redescending score function in the robust extended Kalman filter, yielding superior performance. For severe NLOS, a severe NLOS mitigation algorithm based on LOS reconstruction is proposed, in which the average value of NLOS error is estimated and the measurements are reconstructed and corrected for subsequent positioning. Finally, an interactive multiple model algorithm is employed to obtain the final positioning result by weighting the position estimation of LOS and NLOS. Simulation and experimental results show that the proposed algorithm can effectively suppress NLOS error and obtain higher positioning accuracy when compared with existing algorithms.

Design and Application of the Indoor Environment Monitoring & Control System at Tianjin First Central Hospital

2013 ◽  
Vol 380-384 ◽  
pp. 635-638
Author(s):  
Chen Chen
Keyword(s):  
Control System ◽  
Wireless Sensor Network ◽  
Sensor Network ◽  
Indoor Environment ◽  
Communication Protocol ◽  
Automatic Monitoring ◽  
Wireless Sensor ◽  
Environment Monitoring ◽  
Human Beings ◽  
Central Hospital

With advance of our human beings science and technology and enhance of the living standards, more and more people have addressed higher requirements on the environmental conditions in a hospital, therefore, the traditional and no-intelligent monitoring devices are being replaced by the automated and networked monitoring systems gradually. In this case, application of the wireless sensor network just fits this need. This paper proposes the Tianjin First Central Hospital indoor environment monitoring & control system of distributed acquisition and execution, and centralized management by focusing on the needs for the technical indicators of the hospital indoor environment. During design of the system, an universal design concept was put forward, and also a non-standard communication protocol for the wireless sensor network designed independently in combination with the OSI open standard. In this paper, realization of the communication protocol among the nodes with embedded software and the operation mechanism of the modes themselves are discussed, also a console panel has been developed for the data center. Several software design algorithms are proposed with respect to the network layout. This paper also describes the test platform of the Tianjin First Central Hospital indoor environment monitoring & control system established with the network components designed, and provides the test and verification results, including the monitored data of the various gases, corresponding automatic control functions, and underlay BER analysis. The results show that this system can basically realize automatic monitoring on the Tianjin First Central Hospital indoor environment. At present, the sensitive gases include CO, CO2, O2, NH3 and formaldehyde, sensitive environments temperature, humidity and light intensity, and controlled targets ventilation and lighting. This paper offers an optional solution for environment monitoring and has certain theoretical value and engineering significance.

scholarly journals Enhance the Performance of Wireless Sensor Network based on Software Define Network and Kalman Filter

Webology ◽  
2021 ◽  
Vol 18 (Special Issue 04) ◽  
pp. 1436-1448
Author(s):  
Jumana Suhail ◽  
Dr. Khalida Sh. Rijab
Keyword(s):  
Kalman Filter ◽  
Wireless Sensor Network ◽  
Sensor Network ◽  
Average Density ◽  
Wireless Sensor ◽  
Buffer Memory ◽  
Leach Protocol ◽  
Subsequent Step ◽  
Random Node ◽  
Software Define Network

The paper proposes a methodology for estimating packet flowing at the sensor level in SDN-WSN based on the partial congestion controller with Kalman filter. Furthermore, the actual purpose of proposing such methodology for predicting in advance the subsequent step of packet flow, and that will consequently contribute in reducing the congestion that might happen. The model proposed (SDN with Kalman filter) is optimized using congestion controller, the methodology of proposed work, the first step random distributed of random node, the apply the Kmean cluster of select the head cluster node in, the connected the network based on LEACH protocol. in this work proposed SDN with Kalman filter for control on network and reduce error of data, where achieve by add buffer memory for each nodes and head cluster to store the data, and SDN control on transmit ion data and receiver data, before transmit apply the Kalman filter on data to reduce error data. The proposed technique, according to simulation findings, extends the network's lifetime by over 30% more than typical WSNs, the reduce the average density of memory to 20% than traditional WSN, and the increase the average capacity of memory to 20% than traditional WSN.

scholarly journals A Research Cluster based Scheme for Node Positioning in Indoor Environment

2019 ◽  
Vol 8 (6S) ◽  
pp. 79-83
Keyword(s):  
Wireless Sensor Network ◽  
Sensor Network ◽  
Indoor Environment ◽  
Cluster Head ◽  
Signal Strength ◽  
Received Signal Strength ◽  
Location Estimation ◽  
Wireless Sensor ◽  
Localization Error ◽  
Network Efficiency

Location estimation in Wireless Sensor Network (WSN) is mandatory to achieve high network efficiency. Identifying the positions of sensors is an uphill task as monitoring nodes are involved in estimation and localization. Clustered Positioning for Indoor Environment (CPIE) is proposed for estimating the position of the sensors using a Cluster Head (CH) based mechanism. The CH estimates the number of neighbor nodes in each floor of the indoor environment. It sends the requests to the cluster members and the positions are estimated based on the Received Signal Strength Indicators (RSSIs) from the members of the cluster. The performance of the proposed scheme is analyzed for both stable and mobile conditions by varying the number of floors. Experimental results show that the propounded scheme offers better network efficiency and reduces delay and localization error

Person tracking using Kalman Filter in Wireless Sensor Network

ICoAC 2010 ◽  
2010 ◽  
Author(s):  
V Vaidehi ◽  
S. Vasuhi ◽  
K. Sri Ganesh ◽  
C. Theanammai ◽  
N T Naresh Babu ◽  
...  
Keyword(s):  
Kalman Filter ◽  
Wireless Sensor Network ◽  
Sensor Network ◽  
Wireless Sensor ◽  
Person Tracking
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