LOCATE-US: Indoor Positioning for Mobile Devices Using Encoded Ultrasonic Signals, Inertial Sensors and Graph-Matching

Multisensory System for Long-Term Activity Monitoring to Facilitate Aging-in-Place

Demographic changes and an ageing population require more effective methods to confront the increased prevalence of chronic diseases which generate dependence in older adults as well as an important rise in social expenditure. The challenge is not only to increase life expectancy, but also to ensure that the older adults can fully enjoy that moment in their lives, living where they wish to (private home, nursing home, …). Physical activity (PA) is a representative parameter of a person's state of health, especially when we are getting older, because it plays an important role in the prevention of diseases, and that is the reason why it is promoted in older adults. One of the goals of this work is to assess the feasibility of objectively measuring the PA levels of older adults wherever they live. In addition, this work proposes long-term monitoring that helps to gather daily activity patterns. We fuse inertial measurements with other technologies (WiFi- and ultrasonic-based location) in order to provide not only PA, but also information about the place where the activities are carried out, including both room-level location and precise positioning (depending on the technology used). With this information, we would be able to generate information about the person's daily routines which can be very useful for the early detection of physical or cognitive impairment.

Indoor Positioning Design for Mobile Phones via Integrating a Single Microphone Sensor and an H2 Estimator

An indoor positioning design developed for mobile phones by integrating a single microphone sensor, an H₂ estimator, and tagged sound sources, all with distinct frequencies, is proposed in this investigation. From existing practical experiments, the results summarize a key point for achieving a satisfactory indoor positioning: The estimation accuracy of the instantaneous sound pressure level (SPL) that is inevitably affected by random variations of environmental corruptions dominates the indoor positioning performance. Following this guideline, the proposed H₂ estimation design, accompanied by a sound pressure level model, is developed for effectively mitigating the influences of received signal strength (RSS) variations caused by reverberation, reflection, refraction, etc. From the simulation results and practical tests, the proposed design delivers a highly promising indoor positioning performance: an average positioning RMS error of 0.75 m can be obtained, even under the effects of heavy environmental corruptions.

Inertial Indoor Pedestrian Navigation Based on Cascade Filtering Integrated INS/Map Information

Indoor pedestrian positioning has been widely used in many scenarios, such as fire rescue and indoor path planning. Compared with other technologies, inertial measurement unit (IMU)-based indoor positioning requires no additional equipment and has a lower cost. However, IMU-based indoor positioning has the problem of error accumulation, resulting in inaccurate positioning. Therefore, this paper proposes a cascade filtering algorithm to correct the accumulated error using only a small amount of map information. In the lower filter, the zero-velocity correction and the attitude-extended complementary filtering (ECF) algorithm are utilized to initially solve the pedestrian's trajectory. In the upper filter, a particle filter (PF) combined with the map information is adopted to correct the accumulated error of the heading and stride length. In the 2D positioning process, the root mean square error (RMSE) of the proposed algorithm is only 1.35 m. In the altitude correction, this paper proposes a method of clustering floor discrimination to deal with the instability of the barometer resulting from an uneven pressure and temperature. In the final 3D positioning experiment, with a total length of 536.5 m and including the process of going up and down the stairs, the end-point error is only 2.45 m by the proposed algorithm.

Smartphone-Based Social Distance Detection Technology with Near-Ultrasonic Signal

With the emergence of COVID-19, social distancing detection is a crucial technique for epidemic prevention and control. However, the current mainstream detection technology cannot obtain accurate social distance in real-time. To address this problem, this paper presents a first study on smartphone-based social distance detection technology based on near-ultrasonic signals. Firstly, according to auditory characteristics of the human ear and smartphone frequency response characteristics, a group of 18 kHz-23 kHz inaudible Chirp signals accompanied with single frequency signals are designed to complete ranging and ID identification in a short time. Secondly, an improved mutual ranging algorithm is proposed by combining the cubic spline interpolation and a two-stage search to obtain robust mutual ranging performance against multipath and NLoS affect. Thirdly, a hybrid channel access protocol is proposed consisting of Chirp BOK, FDMA, and CSMA/CA to increase the number of concurrencies and reduce the probability of collision. The results show that in our ranging algorithm, 95% of the mutual ranging error within 5 m is less than 10 cm and gets the best performance compared to the other traditional methods in both LoS and NLoS. The protocol can efficiently utilize the limited near-ultrasonic channel resources and achieve a high refresh rate ranging under the premise of reducing the collision probability. Our study can realize high-precision, high-refresh-rate social distance detection on smartphones and has significant application value during an epidemic.

Simulation Tool and Online Demonstrator for CDMA-Based Ultrasonic Indoor Localization Systems

This work presents the CODEUS platform, which includes a simulation tool together with an online experimental demonstrator to offer analysis and testing flexibility for researchers and developers in Ultrasonic Indoor Positioning Systems (UIPSs). The simulation platform allows most common encoding techniques and sequences to be tested in a configurable UIPS. It models the signal modulation and processing, the ultrasonic transducers’ response, the beacon distribution, the channel propagation effects, the synchronism, and the application of different positioning algorithms. CODEUS provides results and performance analysis for different metrics and at different stages of the signal processing. The UIPS simulation tool is specified by means of the MATLAB© App-Designer environment, which enables the definition of a user-friendly interface. It has also been linked to an online demonstrator that can be managed remotely by means of a website, thus avoiding any hardware requirement or equipment on behalf of researchers. This demonstrator allows the selected transmission schemes, modulation or encoding techniques to be validated in a real UIPS, therefore enabling a fast and easy way of carrying out experimental tests in a laboratory environment, while avoiding the time-consuming tasks related to electronic design and prototyping in the UIPS field. Both simulator and online demonstrator are freely available for researchers and students through the corresponding website.

Dynamic Adjustment of Weighted GCC-PHAT for Position Estimation in an Ultrasonic Local Positioning System

Ultrasonic local positioning systems (ULPS) have been brought to the attention of researchers as one of the possibilities that can be used for indoor localization. Acoustic systems combine a suitable trade-off between precision, ease of development, and cost. This work proposes a method for measuring the time of arrival of encoded emissions from a set of ultrasonic beacons, which are used to implement an accurate ULPS. This method uses the generalized cross-correlation technique with PHAT filter and weighting factor β (GCC-PHAT-β). To improve the performance of the GCC-PHAT-β in encoded emission detection, the employment is proposed of mixed-medium multiple-access techniques, based on code division and time division multiplexing of beacon emissions (CDMA and TDMA respectively), and to dynamically adjust the PHAT filter weighting factor. The receiver position is obtained by hyperbolic multilateration from the time differences of arrival (TDoA) between a reference beacon and the rest, thus avoiding the need for receiver synchronization. The results show how the dynamic adaptation of the weighting factor significantly reduces positioning errors from 20 cm to 2 cm in 80% of measurements. The simulated and real experiments prove that the proposed algorithms improve the performance of the ULPS in situations with lower signal-to-noise ratios (SNR) than 0 dB and in environments where the multipath effect makes it difficult to correctly detect the encoded ultrasonic emissions.

Using Perspective-n-Point Algorithms for a Local Positioning System Based on LEDs and a QADA Receiver

The research interest on location-based services has increased during the last years ever since 3D centimetre accuracy inside intelligent environments could be confronted with. This work proposes an indoor local positioning system based on LED lighting, transmitted from a set of beacons to a receiver. The receiver is based on a quadrant photodiode angular diversity aperture (QADA) plus an aperture placed over it. This configuration can be modelled as a perspective camera, where the image position of the transmitters can be used to recover the receiver's 3D pose. This process is known as the perspective-n-point (PnP) problem, which is well known in computer vision and photogrammetry. This work investigates the use of different state-of-the-art PnP algorithms to localize the receiver in a large space of 2 × 2 m2 based on four co-planar transmitters and with a distance from transmitters to receiver up to 3.4 m. Encoding techniques are used to permit the simultaneous emission of all the transmitted signals and their processing in the receiver. In addition, correlation techniques (match filtering) are used to determine the image points projected from each emitter on the QADA. This work uses Monte Carlo simulations to characterize the absolute errors for a grid of test points under noisy measurements, as well as the robustness of the system when varying the 3D location of one transmitter. The IPPE algorithm obtained the best performance in this configuration. The proposal has also been experimentally evaluated in a real setup. The estimation of the receiver's position at three particular points for roll angles of the receiver of γ={0°, 120°, 210° and 300°} using the IPPE algorithm achieves average absolute errors and standard deviations of 4.33 cm, 3.51 cm and 28.90 cm; and 1.84 cm, 1.17 cm and 19.80 cm in the coordinates x, y and z, respectively. These positioning results are in line with those obtained in previous work using triangulation techniques but with the addition that the complete pose of the receiver (x, y, z, α, β, γ) is obtained in this proposal.

Evaluation of Multi-Sensor Fusion Methods for Ultrasonic Indoor Positioning

Indoor positioning systems have become a feasible solution for the current development of multiple location-based services and applications. They often consist of deploying a certain set of beacons in the environment to create a coverage volume, wherein some receivers, such as robots, drones or smart devices, can move while estimating their own position. Their final accuracy and performance mainly depend on several factors: the workspace size and its nature, the technologies involved (Wi-Fi, ultrasound, light, RF), etc. This work evaluates a 3D ultrasonic local positioning system (3D-ULPS) based on three independent ULPSs installed at specific positions to cover almost all the workspace and position mobile ultrasonic receivers in the environment. Because the proposal deals with numerous ultrasonic emitters, it is possible to determine different time differences of arrival (TDOA) between them and the receiver. In that context, the selection of a suitable fusion method to merge all this information into a final position estimate is a key aspect of the proposal. A linear Kalman filter (LKF) and an adaptive Kalman filter (AKF) are proposed in that regard for a loosely coupled approach, where the positions obtained from each ULPS are merged together. On the other hand, as a tightly coupled method, an extended Kalman filter (EKF) is also applied to merge the raw measurements from all the ULPSs into a final position estimate. Simulations and experimental tests were carried out and validated both approaches, thus providing average errors in the centimetre range for the EKF version, in contrast to errors up to the meter range from the independent (not merged) ULPSs.