Sensing Human Activity: GPS Tracking

Testing a Model of Human Spatial Navigation Attitudes towards Global Navigation Satellite Systems

Global navigation satellite systems (GNSS) can provide better data quality for different purposes; however, some age groups might lie outside its use. Understanding the barriers to its adoption is of interest in different fields. This work aims at developing a measurement instrument of the adoption attitudes towards this technology and examining the relationship of variables such as age and gender. A UTAUT model was tested on 350 participants. The main results can be summarised as follows: (i) the proposed GNSS scale on human spatial navigation attitudes towards geopositioning technology showed optimal psychometric properties; (ii) although statistically significant differences were found in the Wayfinding Questionnaire (WQ) between men and women, these did not reach the level of statistical significance for the scores on attitudes towards GNSS; (iii) by testing a model on human spatial navigation attitudes towards geopositioning technology, it was possible to show a higher relationship with age in women.

An Integrated Individual Environmental Exposure Assessment System for Real-Time Mobile Sensing in Environmental Health Studies

The effects of environmental exposure on human health have been widely explored by scholars in health geography for decades. However, recent advances in geospatial technologies, especially the development of mobile approaches to collecting real-time and high-resolution individual data, have enabled sophisticated methods for assessing people’s environmental exposure. This study proposes an individual environmental exposure assessment system (IEEAS) that integrates objective real-time monitoring devices and subjective sensing tools to provide a composite way for individual-based environmental exposure data collection. With field test data collected in Chicago and Beijing, we illustrate and discuss the advantages of the proposed IEEAS and the composite analysis that could be applied. Data collected with the proposed IEEAS yield relatively accurate measurements of individual exposure in a composite way, and offer new opportunities for developing more sophisticated ways to measure individual environmental exposure. With the capability to consider both the variations in environmental risks and human mobility in high spatial and temporal resolutions, the IEEAS also helps mitigate some uncertainties in environmental exposure assessment and thus enables a better understanding of the relationship between individual environmental exposure and health outcomes.

Inferring transportation mode from smartphone sensors: Evaluating the potential of Wi-Fi and Bluetooth

Understanding which transportation modes people use is critical for smart cities and planners to better serve their citizens. We show that using information from pervasive Wi-Fi access points and Bluetooth devices can enhance GPS and geographic information to improve transportation detection on smartphones. Wi-Fi information also improves the identification of transportation mode and helps conserve battery since it is already collected by most mobile phones. Our approach uses a machine learning approach to determine the mode from pre-prepocessed data. This approach yields an overall accuracy of 89% and average F₁ score of 83% for inferring the three grouped modes of self-powered, car-based, and public transportation. When broken out by individual modes, Wi-Fi features improve detection accuracy of bus trips, train travel, and driving compared to GPS features alone and can substitute for GIS features without decreasing performance. Our results suggest that Wi-Fi and Bluetooth can be useful in urban transportation research, for example by improving mobile travel surveys and urban sensing applications.

Feasibility of Discriminating UAV Propellers Noise from Distress Signals to Locate People in Enclosed Environments Using MEMS Microphone Arrays

Detecting and finding people are complex tasks when visibility is reduced. This happens, for example, if a fire occurs. In these situations, heat sources and large amounts of smoke are generated. Under these circumstances, locating survivors using thermal or conventional cameras is not possible and it is necessary to use alternative techniques. The challenge of this work was to analyze if it is feasible the integration of an acoustic camera, developed at the University of Valladolid, on an unmanned aerial vehicle (UAV) to locate, by sound, people who are calling for help, in enclosed environments with reduced visibility. The acoustic array, based on MEMS (micro-electro-mechanical system) microphones, locates acoustic sources in space, and the UAV navigates autonomously by closed enclosures. This paper presents the first experimental results locating the angles of arrival of multiple sound sources, including the cries for help of a person, in an enclosed environment. The results are promising, as the system proves able to discriminate the noise generated by the propellers of the UAV, at the same time it identifies the angles of arrival of the direct sound signal and its first echoes reflected on the reflective surfaces.

Detecting and Evaluating Urban Clusters with Spatiotemporal Big Data

The design of urban clusters has played an important role in urban planning, but realizing the construction of these urban plans is quite a long process. Hence, how the progress is evaluated is significant for urban managers in the process of urban construction. Traditional methods for detecting urban clusters are inaccurate since the raw data is generally collected from small sample questionnaires of resident trips rather than large-scale studies. Spatiotemporal big data provides a new lens for understanding urban clusters in a natural and fine-grained way. In this article, we propose a novel method for Detecting and Evaluating Urban Clusters (DEUC) with taxi trajectories and Sina Weibo check-in data. Firstly, DEUC applies an agglomerative hierarchical clustering method to detect urban clusters based on the similarities in the daily travel space of urban residents. Secondly, DEUC infers resident demands for land-use functions using a naïve Bayes’ theorem, and three indicators are adopted to assess the rationality of land-use functions in the detected clusters—namely, cross-regional travel index, commuting direction index, and fulfilled demand index. Thirdly, DEUC evaluates the progress of urban cluster construction by calculating a proposed conformance indicator. In the case study, we applied our method to detect and analyze urban clusters in Wuhan, China in the years 2009, 2014, and 2015. The results suggest the effectiveness of the proposed method, which can provide a scientific basis for urban construction.

A Data Cleaning Method for Big Trace Data Using Movement Consistency

Given the popularization of GPS technologies, the massive amount of spatiotemporal GPS traces collected by vehicles are becoming a new kind of big data source for urban geographic information extraction. The growing volume of the dataset, however, creates processing and management difficulties, while the low quality generates uncertainties when investigating human activities. Based on the conception of the error distribution law and position accuracy of the GPS data, we propose in this paper a data cleaning method for this kind of spatial big data using movement consistency. First, a trajectory is partitioned into a set of sub-trajectories using the movement characteristic points. In this process, GPS points indicate that the motion status of the vehicle has transformed from one state into another, and are regarded as the movement characteristic points. Then, GPS data are cleaned based on the similarities of GPS points and the movement consistency model of the sub-trajectory. The movement consistency model is built using the random sample consensus algorithm based on the high spatial consistency of high-quality GPS data. The proposed method is evaluated based on extensive experiments, using GPS trajectories generated by a sample of vehicles over a 7-day period in Wuhan city, China. The results show the effectiveness and efficiency of the proposed method.

Why GPS makes distances bigger than they are

Global navigation satellite systems such as the Global Positioning System (GPS) is one of the most important sensors for movement analysis. GPS is widely used to record the trajectories of vehicles, animals and human beings. However, all GPS movement data are affected by both measurement and interpolation errors. In this article we show that measurement error causes a systematic bias in distances recorded with a GPS; the distance between two points recorded with a GPS is - on average - bigger than the true distance between these points. This systematic 'overestimation of distance' becomes relevant if the influence of interpolation error can be neglected, which in practice is the case for movement sampled at high frequencies. We provide a mathematical explanation of this phenomenon and illustrate that it functionally depends on the autocorrelation of GPS measurement error (C). We argue that C can be interpreted as a quality measure for movement data recorded with a GPS. If there is a strong autocorrelation between any two consecutive position estimates, they have very similar error. This error cancels out when average speed, distance or direction is calculated along the trajectory. Based on our theoretical findings we introduce a novel approach to determine C in real-world GPS movement data sampled at high frequencies. We apply our approach to pedestrian trajectories and car trajectories. We found that the measurement error in the data was strongly spatially and temporally autocorrelated and give a quality estimate of the data. Most importantly, our findings are not limited to GPS alone. The systematic bias and its implications are bound to occur in any movement data collected with absolute positioning if interpolation error can be neglected.

Mobile phone middleware architecture for energy and context awareness in location-based services

The disruptive innovation of smartphone technology has enabled the development of mobile sensing applications leveraged on specialized sensors embedded in the device. These novel mobile phone applications rely on advanced sensor information processes, which mainly involve raw data acquisition, feature extraction, data interpretation and transmission. However, the continuous accessing of sensing resources to acquire sensor data in smartphones is still very expensive in terms of energy, particularly due to the periodic use of power-intensive sensors, such as the Global Positioning System (GPS) receiver. The key underlying idea to design energy-efficient schemes is to control the duty cycle of the GPS receiver. However, adapting the sensing rate based on dynamic context changes through a flexible middleware has received little attention in the literature. In this paper, we propose a novel modular middleware architecture and runtime environment to directly interface with application programming interfaces (APIs) and embedded sensors in order to manage the duty cycle process based on energy and context aspects. The proposed solution has been implemented in the Android software stack. It allows continuous location tracking in a timely manner and in a transparent way to the user. It also enables the deployment of sensing policies to appropriately control the sampling rate based on both energy and perceived context. We validate the proposed solution taking into account a reference location-based service (LBS) architecture. A cloud-based storage service along with online mobility analysis tools have been used to store and access sensed data. Experimental measurements demonstrate the feasibility and efficiency of our middleware, in terms of energy and location resolution.

A hybrid spatio-temporal data indexing method for trajectory databases

In recent years, there has been tremendous growth in the field of indoor and outdoor positioning sensors continuously producing huge volumes of trajectory data that has been used in many fields such as location-based services or location intelligence. Trajectory data is massively increased and semantically complicated, which poses a great challenge on spatio-temporal data indexing. This paper proposes a spatio-temporal data indexing method, named HBSTR-tree, which is a hybrid index structure comprising spatio-temporal R-tree, B*-tree and Hash table. To improve the index generation efficiency, rather than directly inserting trajectory points, we group consecutive trajectory points as nodes according to their spatio-temporal semantics and then insert them into spatio-temporal R-tree as leaf nodes. Hash table is used to manage the latest leaf nodes to reduce the frequency of insertion. A new spatio-temporal interval criterion and a new node-choosing sub-algorithm are also proposed to optimize spatio-temporal R-tree structures. In addition, a B*-tree sub-index of leaf nodes is built to query the trajectories of targeted objects efficiently. Furthermore, a database storage scheme based on a NoSQL-type DBMS is also proposed for the purpose of cloud storage. Experimental results prove that HBSTR-tree outperforms TB*-tree in some aspects such as generation efficiency, query performance and query type.

Sensing solutions for collecting spatio-temporal data for wildlife monitoring applications: a review

Movement ecology is a field which places movement as a basis for understanding animal behavior. To realize this concept, ecologists rely on data collection technologies providing spatio-temporal data in order to analyze movement. Recently, wireless sensor networks have offered new opportunities for data collection from remote places through multi-hop communication and collaborative capability of the nodes. Several technologies can be used in such networks for sensing purposes and for collecting spatio-temporal data from animals. In this paper, we investigate and review technological solutions which can be used for collecting data for wildlife monitoring. Our aim is to provide an overview of different sensing technologies used for wildlife monitoring and to review their capabilities in terms of data they provide for modeling movement behavior of animals.

Robust observation detection for single object tracking: deterministic and probabilistic patch-based approaches

In video analytics, robust observation detection is very important as the content of the videos varies a lot, especially for tracking implementation. Contrary to the image processing field, the problems of blurring, moderate deformation, low illumination surroundings, illumination change and homogenous texture are normally encountered in video analytics. Patch-Based Observation Detection (PBOD) is developed to improve detection robustness to complex scenes by fusing both feature- and template-based recognition methods. While we believe that feature-based detectors are more distinctive, however, for finding the matching between the frames are best achieved by a collection of points as in template-based detectors. Two methods of PBOD—the deterministic and probabilistic approaches—have been tested to find the best mode of detection. Both algorithms start by building comparison vectors at each detected points of interest. The vectors are matched to build candidate patches based on their respective coordination. For the deterministic method, patch matching is done in 2-level test where threshold-based position and size smoothing are applied to the patch with the highest correlation value. For the second approach, patch matching is done probabilistically by modelling the histograms of the patches by Poisson distributions for both RGB and HSV colour models. Then, maximum likelihood is applied for position smoothing while a Bayesian approach is applied for size smoothing. The result showed that probabilistic PBOD outperforms the deterministic approach with average distance error of 10.03% compared with 21.03%. This algorithm is best implemented as a complement to other simpler detection methods due to heavy processing requirement.

Mobile mapping of sporting event spectators using bluetooth sensors: tour of flanders 2011

Accurate spatiotemporal information on crowds is a necessity for a better management in general and for the mitigation of potential security risks. The large numbers of individuals involved and their mobility, however, make generation of this information non-trivial. This paper proposes a novel methodology to estimate and map crowd sizes using mobile Bluetooth sensors and examines to what extent this methodology represents a valuable alternative to existing traditional crowd density estimation methods. The proposed methodology is applied in a unique case study that uses Bluetooth technology for the mobile mapping of spectators of the Tour of Flanders 2011 road cycling race. The locations of nearly 16,000 cell phones of spectators along the race course were registered and detailed views of the spatiotemporal distribution of the crowd were generated. Comparison with visual head counts from camera footage delivered a detection ratio of 13.0 ± 2.3%, making it possible to estimate the crowd size. To our knowledge, this is the first study that uses mobile Bluetooth sensors to count and map a crowd over space and time.

Enhancing positioning accuracy in urban terrain by fusing data from a GPS receiver, inertial sensors, stereo-camera and digital maps for pedestrian navigation

The paper presents an algorithm for estimating a pedestrian location in an urban environment. The algorithm is based on the particle filter and uses different data sources: a GPS receiver, inertial sensors, probability maps and a stereo camera. Inertial sensors are used to estimate a relative displacement of a pedestrian. A gyroscope estimates a change in the heading direction. An accelerometer is used to count a pedestrian's steps and their lengths. The so-called probability maps help to limit GPS inaccuracy by imposing constraints on pedestrian kinematics, e.g., it is assumed that a pedestrian cannot cross buildings, fences etc. This limits position inaccuracy to ca. 10 m. Incorporation of depth estimates derived from a stereo camera that are compared to the 3D model of an environment has enabled further reduction of positioning errors. As a result, for 90% of the time, the algorithm is able to estimate a pedestrian location with an error smaller than 2 m, compared to an error of 6.5 m for a navigation based solely on GPS.

Interactive density maps for moving objects

Density maps show trends in objects' trajectories. Density map creation involves aggregating smoothed trajectories in a density field and visualizing the field. Using an interactive distribution map, users can define subsets and, supported by graphics hardware, get fast feedback for these computationally expensive density field calculations.