Direct position determination in the presence of model errors—known waveforms

The performance of the direct position determination (DPD) approach in the presence of model errors is examined. DPD was recently introduced as a promising technique for localization of multiple radio frequency emitters with superior accuracy under low signal-to-noise ratio conditions. We analyze the performance of DPD in the presence of model errors caused by multipath, calibration errors, mutual coupling, etc. The analysis is general enough to encapsulate various sources of errors. Monte Carlo simulations are used to validate the analysis. We show that in many cases of interest DPD should be selected as the preferred method of localization.     

ML-based single-step estimation of the locations of strictly noncircular sources

This paper concentrates on the location methods for strictly noncircular sources by widely separated arrays. The conventional two-step methods extract measurement parameters and then, estimate the positions from them. Compared with the conventional two-step methods, direct position determination (DPD) is a promising technique, which locates transmitters directly from original sensor outputs without estimating intermediate parameters in a single step, and thus, improves the location accuracy and avoids the data association problem. However, existing DPD methods mainly focus on complex circular sources without considering noncircular signals, which can be exploited to enhance the localization accuracy. This paper proposes a maximum likelihood (ML)-based DPD algorithm for strictly noncircular sources whose waveforms are unknown. By exploiting the noncircularity of sources, we establish an ML-based function in time domain under the constraint on the waveforms of signals. A decoupled iterative method is developed to solve the prescribed ML estimator with a moderate complexity. In addition, we derive the deterministic Cramér–Rao Bound (CRB) for strictly noncircular sources, and prove that this CRB is upper bounded by the associated CRB for circular signals. Simulation results demonstrate that the proposed algorithm has a fast convergence rate, and outperforms the other location methods in a wide range of scenarios.     

Coherent summation of multiple short-time signals for direct positioning of a wideband source based on delay and Doppler

We consider identifying the source position directly from the received source signals. This direct position determination (DPD) approach has been shown to be superior in terms of better estimation accuracy and improved robustness to low signal-to-noise ratios (SNRs) to the conventional two-step localization technique, where signal measurements are extracted first and the source position is then estimated from them. The localization of a wideband source such as a communication transmitter or a radar whose signal should be considered deterministic is investigated in this paper. Both passive and active localization scenarios, which correspond to the source signal waveform being unknown and being known respectively, are studied. In both cases, the source signal received at each receiver is partitioned into multiple non-overlapping short-time signal segments for the DPD task. This paper proposes the use of coherent summation that takes into account the coherency among the short-time signals received at the same receiver. The study begins with deriving the Cramér–Rao lower bounds (CRLBs) of the source position under coherent summation-based and non-coherent summation-based DPDs. Interestingly, we show analytically that with coherent summation, the localization accuracy of the DPD improves as the time interval between two short-time signals increases. This paper also develops approximate maximum likelihood (ML) estimators for DPDs with coherent and non-coherent summations. The CRLB results and the performance of the proposed source position estimators are illustrated via simulations.     

2D sound source position estimation using microphone arrays and its application to a VR-based bird song analysis system

ABSTRACT

This paper addresses the problem of 2D sound source localization using multiple microphone arrays in an outdoor environment. Two main issues exist in such localization. Since the localization performance depends on a variety of parameters, the lack of knowledge about how to design the system is one of those issues. A thorough analysis in respect to the accuracy of the localization results with different simulation conditions has been performed. Obtained characteristics lead to a discussion on limitations and applicability of the system. The distinction between multiple simultaneous sound sources is another problem. This is directly related to the appearance of outliers in the localization process. To solve this issue, an outlier removal method is proposed, which takes the properties of the observed sounds into consideration. In this paper a VR-based visualization method of the obtained results is also introduced. As the application scenario, we selected bird song analysis, which provides a challenging environment in terms of constantly changing signal-to-noise ratio and relative sensor-to-target position. A prototype system has been established using the proposed method. Several simulation results have been presented followed by a discussion on the issues. This leads to establishing system design guidelines that ensure a predictable performance.     

非视距环境下室内RFID标签定位算法研究

在室内无线定位中,由于受到非视距NLOS的影响,信号的传播变得复杂起来。复杂的传播环境使得传统的定位算法例如最小二乘算法(LS)或者CHAN算法无法达到我们需要的精度。在使用无源超高频无线射频识别(Passive UHF RFID)技术的基础上,分析和建立了UHF RFID信道模型,并由此对定位误差进行了分析。基于运用相位法POA进行测距而得到的距离信息,提出了一种两步式标签定位算法:首先使用凸优化中的内点法将非视距误差消除,再使用加权残差方法进行精确定位。通过仿真结果的比较,表明本文提出的算法优于传统算法。     

Structural total least squares algorithm for locating multiple disjoint sources based on AOA/TOA/FOA in the presence of system error

Single-station passive localization technology avoids the complex time synchronization and information exchange between multiple observatories, and is increasingly important in electronic warfare. Based on a single moving station localization system, a new method with high localization precision and numerical stability is proposed when the measurements from multiple disjoint sources are subject to the same station position and velocity displacement. According to the available measurements including the angle-of-arrival (AOA), time-of-arrival (TOA), and frequency-of-arrival (FOA), the corresponding pseudo linear equations are deduced. Based on this, a structural total least squares (STLS) optimization model is developed and the inverse iteration algorithm is used to obtain the stationary target location. The localization performance of the STLS localization algorithm is derived, and it is strictly proved that the theoretical performance of the STLS method is consistent with that of the constrained total least squares method under first-order error analysis, both of which can achieve the Cramér-Rao lower bound accuracy. Simulation results show the validity of the theoretical derivation and superiority of the new algorithm.     

仿射投影自适应算法在数字预失真系统中的应用

基于自适应滤波器的仿射投影算法,结合复数增益查找表结构,建立预失真系统模型.研究了步长参数和多重约束数对仿射投影算法收敛速率的影响;比较了仿射投影算法和归一化最小均方算法的性能.结果表明,在取值范围内的步长参数和多重约束数越大,仿射投影算法收敛速率越快;相同迭代次数、步长参数和正则化系数时,偏离归一化载波中心频率5 MHz处,仿射投影算法的系统邻信道功率比达到-59.3 dB,效果好于归一化最小均方算法的-44.2 dB.     

A Visual Global Positioning System for Unmanned Aerial Vehicles Used in Photogrammetric Applications

The combination of photogrammetric aerial and terrestrial recording methods can provide new opportunities for photogrammetric applications. A UAV (Unmanned Aerial Vehicle), in our case a helicopter system, can cover both the aerial and quasi-terrestrial image acquisition methods. A UAV can be equipped with an on-board high resolution camera and a priori knowledge of the operating area where to perform photogrammetric tasks. In this general scenario our paper proposes vision-based techniques for localizing a UAV. Only natural landmarks provided by a feature tracking algorithm will be considered, without the help of visual beacons or landmarks with known positions. The novel idea is to perform global localization, position tracking and localization failure recovery (kidnapping) based only on visual matching between current view and available georeferenced satellite images. The matching is based on SIFT features and the system estimates the position of the UAV and its altitude on the base of the reference image. The vision system replaces the GPS signal combining position information from visual odometry and georeferenced imagery. Georeferenced satellite or aerial images must be available on-board beforehand or downloaded during the flight. The growing availability of high resolution satellite images (e.g., provided by Google Earth or other local information sources) makes this topic very interesting and timely. Experiments with both synthetic (i.e., taken from satellites or datasets and pre elaborated) and real world images have been performed to test the accuracy and the robustness of our method. Results show sufficient performance if compared with common GPS systems and give a good performance also in the altitude estimation, even if in this last case there are only preliminary results.     

Wavelet enabled convolutional autoencoder based deep neural network for hyperspectral image denoising

Denoising of hyperspectral images (HSIs) is an important preprocessing step to enhance the performance of its analysis and interpretation. In reality, a remotely sensed HSI experiences disturbance from different sources and therefore gets affected by multiple noise types. However, most of the existing denoising methods concentrates in removal of a single noise type ignoring their mixed effect. Therefore, a method developed for a particular noise type doesn’t perform satisfactorily for other noise types. To address this limitation, a denoising method is proposed here, that effectively removes multiple frequently encountered noise patterns from HSI including their combinations. The proposed dual branch deep neural network based architecture works on wavelet transformed bands. The first branch of the network uses deep convolutional skip connected layers with residual learning for extracting local and global noise features. The second branch includes layered autoencoder together with subpixel upsampling that performs repeated convolution in each layer to extract prominent noise features from the image. Two hyperspectral datasets are used in the experiment to evaluate the performance of the proposed method for denoising of Gaussian, stripe and mixed noises. Experimental results demonstrate the superior performance of the proposed network compared to other state-of-the-art denoising methods with PSNR 36.74, SSIM 0.97 and overall accuracy 94.03?%.

     

A new algorithm for simulating flows of conducting fluids in the presence of electric fields

We propose an algorithm based on dissipative particle dynamics (DPD) for simulations of conducting fluids in the presence of an electric field. In this model, the electrostatic equations are solved in each DPD time step to determine the charge density at the fluid surfaces. These surface charges are distributed on a thin layer of fluid particles near the interface, and the corresponding interfacial electric forces are added to other DPD forces. The algorithm is applied to the electrospinning process at the Taylor cone formation stage. It is shown that, when the applied voltage is sufficiently high, the algorithm captures the formation of a Taylor cone with analytical apex angle 98.6°. Our results demonstrate the potential of the presented DPD algorithm for simulating two-phase problems in the presence of an electric field with non-periodic boundary conditions.     

基于高斯过程的缺陷定位方法

在软件系统中,缺陷定位是缺陷修复的一个关键环节,如果能将缺陷自动定位到很小的范围,将会极大地降低缺陷修复的难度.基于高斯过程提出了一种缺陷定位方法（GPBL）,即针对每个缺陷,向开发人员推荐这个缺陷可能存在于哪些源文件中,从而帮助开发人员快速修复缺陷.为了验证方法的有效性,采集了开源软件Eclipse 和Argouml 中的数据,实验结果表明,高斯过程缺陷定位的查全率和查准率平均分别为87.16%和78.90%.与基于LDA的缺陷定位方法进行比较,表明高斯过程更能准确定位缺陷的位置.     

Auditory inspired methods for localization of multiple concurrent speakers

The use of microphone arrays offers enhancements of speech signals recorded in meeting rooms and office spaces. A common solution for speech enhancement in realistic environments with ambient noise and multi-path propagation is the application of so-called beamforming techniques. Such beamforming algorithms enhance signals at the desired angle using constructive interference while attenuating signals coming from other directions by destructive interference. However, these techniques require as a priori the time difference of arrival information of the source. Therefore, the source localization and tracking algorithms are an integral part of such a system. The conventional localization algorithms deteriorate in realistic scenarios with multiple concurrent speakers. In contrast to conventional methods, the techniques presented in this paper make use of pitch information of speech signals in addition to the location information. This “position–pitch”-based algorithm pre-processes the speech signals by a multiband gammatone filterbank that is inspired from the auditory model of the human inner ear. The role of this gammatone filterbank is analyzed and discussed in details. For a robust localization of multiple concurrent speakers, a frequency-selective criterion is explored that is based on a study of the human neural system's use of correlations between adjacent sub-band frequencies. This frequency-selective criterion leads to improved localization performance. To further improve localization accuracy, an algorithm based on grouping of spectro-temporal regions formed by pitch cues is presented. All proposed speaker localization algorithms are tested using a multichannel database where multiple concurrent speakers are active. The real-world recordings were made with a 24-channel uniform circular microphone array using loudspeakers and human speakers under various acoustic environments including moving concurrent speaker scenarios. The proposed techniques produced a localization performance that was significantly better than the state-of-the-art baseline in the scenarios tested.     

基于差分麦克风阵列和语音稀疏性的多源方位估计方法

差分麦克风阵列为实现小尺寸阵列条件下的声源定位提供了一条重要技术途径。语音信号具有稀疏性,利用该特性可实现基于差分麦克风阵列的多声源方位估计,其中的典型方法为直方图法。针对差分麦克风阵列,本文提出了一种基于时频掩蔽和模糊聚类分析的短时平均复声强多声源方位估计方法。分析了不同阵列尺寸条件下时频掩蔽频带范围的选择问题。该方法具有闭式解,在强混响噪声环境下的性能优于直方图法,并且受阵列尺寸变化的影响较小。为了改善直方图法的性能, 基于时频掩蔽的思想,文中还给出了一种修正的直方图方法。混响噪声环境下的仿真实验结果验证了本文所提方法的有效性。     

Localization of multiple disjoint sources with prior knowledge on source locations in the presence of sensor location errors

Sensor location errors are known to be able to degrade the source localization accuracy significantly. This paper considers the problem of localizing multiple disjoint sources where prior knowledge on the source locations is available to mitigate the effect of sensor location uncertainty. The error in the priorly known source location is assumed to follow a zero-mean Gaussian distribution. When a source location is completely unknown, the covariance matrix of its prior location would go to infinity. The localization of multiple disjoint sources is achieved through exploring the time difference of arrival (TDOA) and the frequency difference of arrival (FDOA) measurements. In this work, we derive the Cramér–Rao lower bound (CRLB) of the source location estimates. The CRLB is shown analytically to be able to unify several CRLBs introduced in literature. We next compare the localization performance when multiple source locations are determined jointly and individually. In the presence of sensor location errors, the superiority of joint localization of multiple sources in terms of greatly improved localization accuracy is established. Two methods for localizing multiple disjoint sources are proposed, one for the case where only some sources have prior location information and the other for the scenario where all sources have prior location information. Both algorithms can reach the CRLB accuracy when sensor location errors are small. Simulations corroborate the theoretical developments.     

碰撞响应中方向穿透深度算法的研究

方向穿透深度是碰撞响应的基础,在增强虚拟环境的逼真性和真实感方面起到了重要的作用.现有的方向穿透深度算法,很难同时兼顾计算速度和计算精度,实用性受到很大限制.提出一种新的方向穿透深度计算方法,无须对凹多面体进行凸分解,就能精确地计算任意多面体间的方向穿透深度.在此基础上,提出一种基于体分解的包围体层次--ISBVH,极大地提高了算法的效率.     

Motion-based identification of multiple mobile robots using trajectory analysis in a well-configured environment with distributed vision sensors

Networked mobile robots are able to determine their poses (i.e., position and orientation) with the help of a well-configured environment with distributed sensors. Before localizing the mobile robots using distributed sensors, the environment has to have information on each of the robots?? prior knowledge. Consequently, if the environment does not have information on the prior knowledge of a certain mobile robot then it will not determine its current pose. To solve this restriction, as a preprocessing step for indoor localization, we propose a motion-based identification of multiple mobile robots using trajectory analysis. The proposed system identifies the robots by establishing the relation between their identities and their positions, which are estimated from their trajectories related to each of the paths generated as designated signs. The primary feature of the proposed system is the fact that networked mobile robots are quickly and simultaneously able to determine their poses in well-configured environments. Experimental results show that our proposed system simultaneously identifies multiple mobile robots, and approximately estimates each of their poses as an initial state for autonomous localization.     

A localization algorithm for large scale mobile wireless sensor networks: a learning approach

Localization is a crucial problem in wireless sensor networks and most of the localization algorithms given in the literature are non-adaptive and designed for fixed sensor networks. In this paper, we propose a learning based localization algorithm for mobile wireless sensor networks. By this technique, mobility in the network will be discovered by two crucial methods in the beacons: position and distance checks methods. These two methods help to have accurate localization and constrain communication just when it is necessary. The proposed method localizes the nodes based on connectivity information (hop count), which doesn’t need extra hardware and is cost efficient. The experimental results show that the proposed algorithm is scalable with a small set of beacons in large scale network with a high density of nodes. The given algorithm is fast and free from a pre-deployment requirement. The simulation results show the high performance of the proposed algorithm.     

基于改进变尺度法的超宽带定位新算法

针对传统定位算法收敛速度慢的问题,结合超宽带通信具有时间分辨率高的特点,在到达时间差(TDOA)定位模型的基础上,采用基于Armijo步长的变尺度法(DFP)对目标节点进行初始定位,进一步在初始位置处以泰勒级数展开算法得到目标节点的最终位置,实现超宽带(UWB)通信系统精确定位。实验结果表明,采用改进变尺度法的初始坐标修正算法,不仅能够降低定位优化算法对于初始坐标的要求,而且在测量时间准确的前提下,相比传统最速下降法平均定位精度有7倍的改进,整个算法具有好的定位精度和定位效率。     

无线传感器网络中基于TDOA/FDOA的增强半正定松弛定位算法研究

本文在无线传感器网络定位问题中,考虑了基于到达时间差（Time-Difference-of-Arrival,TDOA）和到达频率差（Frequency-Difference-of-Arrival,FDOA）的移动未知目标定位问题,TDOA/FDOA联合定位可以有效利用传感器的位置和速度信息,提高了定位精度。本文在现有的半正定松弛（Semidefinite Relaxation, SDR）方法的基础上,提出了一种增强半正定松弛方法。通过挖掘现有半正定规划问题中优化变量之间的内在联系并将这些联系转化为凸约束,有效提高了现有半正定松弛方法的紧度,从而使估计的未知目标的位置和速度精度达到了克拉美-罗下界 (Cramer Rao lower bound,CRLB)。仿真结果表明,该方法的性能在大噪声时优于现有方法。     

Improvements on deinterleaving of radar pulses in dynamically varying signal environments

An electronic support system receiver which is a passive receiver picks up an interleaved stream of pulses and extracts their pulse parameters. These parameters are sent to a deinterleaving subsystem which sorts them and forms pulse cells that each are assumed to belong to a specific emitter. In this paper, we develop a method for this task of deinterleaving of radar pulse sequences. For this aim, a novel pulse amplitude tracking algorithm is proposed for dynamically varying signal environments wherein radar parameters can change abruptly. This method particularly works for air-to-air engagements where pulse amplitude distortion due to channel effects can be considered negligible. Simulation results show that the proposed algorithm incorporated with a clustering algorithm improves deinterleaving of radar emitters that have agile pulse parameters such as airborne radars.