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This paper presents a strategy to improve positioning estimation from low-cost Inertia Measurement Unit (IMU) sensor and Global Positioning System (GPS) for apron vehicle localization. IMU sensor provides raw acceleration values and its attitude, while GPS provides geodetic position, velocity, and heading course values. Fusion result from both sensors believed could comply Advanced-Surface Movement...
We have seen an ever-expanding set of location-aware services and devices become broadly available over the past years. Despite these promising applications and thorough research, indoor localization remains a very challenging topic and (near) perfect accuracy continues to be an open research challenge. In this paper, we acknowledge the growth and potential of smart home environments and focus on...
In this paper, we propose a positioning system using a time-synchronized wireless network that can achieve high positioning accuracy without being dependent on any global positioning system (GPS) devices with cm-level accuracy as the main goal and objective. The proposed system utilizes time of arrival (ToA) method to estimate the target's position. Based on the results, we can achieve time synchronization...
Lane estimation plays a central role for Driver Assistance Systems, therefore many approaches have been proposed to measure its performance. However, no commonly agreed metric exists. In this work, we first present a detailed survey of the current measures. Most of them apply pixel-level benchmarks on camera images and require a time-consuming and fault-prone labeling process. Moreover, these metrics...
Cell phones with GPS function as well as GPS loggers are widely used and we can easily obtain users' geographic information. However, still battery consumption in these mobile devices is main concern and then we are not allowed to obtain GPS positioning data so frequently. In this paper, we propose a stayed location estimation method for sparse GPS positioning data. After generating initial clusters...
Map matching, as one of the key steps, is widely used in navigation, estimation of traffic flow, path planning, etc. With the emergency of large traffic track data, the demand for matching speed is becoming higher and higher. This paper describes a method of map matching based on grid index, which is used to quickly get the closest K candidate sections to improve the speed of map matching. When establishing...
Although a number of asynchronous physical-layer network coding (PNC) schemes have been proposed, synchronous PNC may still be preferred for its simplicity. In this paper we propose a new symbol-level synchronization scheme which reduces the misalignment to less than one hardware clock cycle period. In addition, we prototype the proposed scheme on the Universal Software Radio Peripheral (USRP) platform...
This paper proposes an algorithm to determine the distance between vehicles for a Intelligent Transport System (ITS) using image sensor based visible light communication. Compared to existing algorithms, the proposed algorithm uses two image sensors and thus requires only one LED for distance estimation. Simulations are conducted to verify the performance of the proposed algorithm.
This paper presents a methodology to assess the performance of sensor fusion in UAVs based on PixHawk flight controller and peripherals to create ad-hoc unmanned vehicles and his adequacy to create different projects based on his architecture. The selected platform is described with stress on available sensors and data processing software, and the experimental methodology is proposed to characterize...
UAVs (Unmanned Aerial Vehicles) have been widely used in power line inspections, but low autonomous cruise capacity of UAVs requires strict condition for operators and site while landing during UAV power line inspections. This paper presents an autonomous landing control technique for UAVs when charging at the electric towers based on vision positioning method. The proposed system consists of three...
In order to promote the popularization of BDS, the BDS / GPS dual-mode positioning is studied, and the pseudorange single point positioning algorithm of the dual-mode system is analyzed. On the basis of the least squares method, the weighted method is used to improve the accuracy of the positioning solution, and a fixed weight method combining the elevation angle model and posterior variance estimation...
We considered the range of PPP online services that solve the problem of high-precision coordinates and receiver time scale shift determination for the RINEX daily records. The comparative estimation of exact indicators of position determination for different geoids is given. The results contains the recommendations for use the online PPP services to solve the problem of time scales comparison.
The prediction of pedestrian movements, here referred as intention, is important to improve the autonomous vehicles' safety systems. Recognize it correctly helps to avoid traffic accidents, specially on low visibility areas, non-line-of-sight or hiding. This paper analyzes the use of movement information provided by an accelerometer carried by pedestrians. With real data extracted from a real experiment,...
To obtain a trade-off between location accuracy and implementation cost, recursive localization schemes are being pursued as a cost-effective alternative to more expensive localization approaches, where localization information increases progressively as new nodes compute their positions and become themselves reference nodes. A strategy is then required to control and maintain the distribution of...
This paper presents an application of complementary filtration for estimating running pace using GPS and pedometer data. In the approach presented two information sources are fused with dynamically adjusted importance factors. In the case of poor GPS signal the pedometer data are gained by the filter, and otherwise. The method proposed was verified using multiple simulations. An exemplary one is presented...
An accurate knowledge of the tire effective rolling radius is fundamental for many vehicle dynamics applications relying on an estimate of the vehicle speed, like ABS, stability and traction control. It may also serve as a tool to detect tire deflation and improve the safety on-board. Many algorithms for rolling radius estimation have been presented in the literature, but most of them cannot be applied...
Location-awareness plays an important role in Wireless Sensor Networks (WSNs) by aiding in tasks such as packet routing, event mapping, and energy savings. The use of Global Positioning System (GPS) on sensor nodes is not always viable due to a number of issues, e.g., power constraints. Location estimation solves the problem of computing sensor node positions by using information from devices that...
In the earlier work [1]-[2], an Intelligent Transportation System (ITS) was designed using cellular network, GPS probes and limited ITS infrastructure for real time vehicular speed estimation. The speed estimations have a certain amount of error and the estimation may not be available at all the times and locations. This paper assesses the utility of such traffic information in an Advanced Traveler...
To acquire GPS signal in challenging environments, a new acquisition scheme based on cyclostatistic is presented. The scheme is constructed on the base of cyclostationary features of GPS signal which is different from noise and interference significantly. Stimulations results show that the proposed cyclostatistic based method outperforms the conventional GPS acquisition method.
In this paper, we propose a method to improve the accuracy of GPS positioning in the environment where the satellite signal including error information is excluded and the satellite signal is reflected and distorted like urban area. Factors that degrade GPS positioning accuracy include time error, ionospheric error, tropospheric error, and multipath error. In order to compensate for this, various...
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