Infrastructure-less indoor positioning in 3D (completed)

• Aparicio Sosa, Joaquin; Alvarez, Fernando J.; Hernandez, Alvaro & Holm, Sverre (2022). A Survey on Acoustic Positioning Systems for Location-Based Services. IEEE Transactions on Instrumentation and Measurement. ISSN 0018-9456. doi: 10.1109/TIM.2022.3210943. Show summary

  Positioning systems have become increasingly popular in the last decade for location-based services, such as navigation, and asset tracking and management. As opposed to outdoor positioning, where the global navigation satellite system became the standard technology, there is no consensus yet for indoor environments despite the availability of different technologies, such as radio frequency, magnetic field, visual light communications, or acoustics. Within these options, acoustics emerged as a promising alternative to obtain high-accuracy low-cost systems. Nevertheless, acoustic signals have to face very demanding propagation conditions, particularly in terms of multipath and Doppler effect. Therefore, even if many acoustic positioning systems have been proposed in the last decades, it remains an active and challenging topic. This article surveys the developed prototypes and commercial systems that have been presented since they first appeared around the 1980s to 2022. We classify these systems into different groups depending on the observable that they use to calculate the user position, such as the time-of-flight, the received signal strength, or the acoustic spectrum. Furthermore, we summarize the main properties of these systems in terms of accuracy, coverage area, and update rate, among others. Finally, we evaluate the limitations of these groups based on the link budget approach, which gives an overview of the system’s coverage from parameters such as source and noise level, detection threshold, attenuation, and processing gain.

• Aparicio, Joaquin & Holm, Sverre (2021). Obtaining range measurements from ambient noise cross-correlations for the self-calibration of nodes. CEUR Workshop Proceedings. ISSN 1613-0073. 3097. Full text in Research Archive
• Thio, Vincent Martello Kwie Hoe; Aparicio, Joaquin; Ånonsen, Kjetil Bergh & Bekkeng, Jan Kenneth (2021). Experimental Evaluation of the Forkbeard Ultrasonic Indoor Positioning System. IEEE Transactions on Instrumentation and Measurement. ISSN 0018-9456. doi: 10.1109/TIM.2021.3136261. Full text in Research Archive
• Thio, Vincent Martello Kwie Hoe; Aparicio, Joaquin; Ånonsen, Kjetil Bergh; Bekkeng, Jan Kenneth & Booij, Wilfred (2021). Fusing of a continuous output PDR algorithm with an ultrasonic positioning system. IEEE Sensors Journal. ISSN 1530-437X. 22(3), p. 2464–2474. doi: 10.1109/JSEN.2021.3134468. Full text in Research Archive
• Aguilera, Teodoro; Aparicio, Joaquin & Alvarez, Fernando J. (2021). High Availability Acoustic Positioning for Targets Moving in Poor Coverage Areas. IEEE Transactions on Instrumentation and Measurement. ISSN 0018-9456. 70. doi: 10.1109/TIM.2021.3106684. Full text in Research Archive
• Thio, Vincent; Ånonsen, Kjetil Bergh & Bekkeng, Jan Kenneth (2021). Relative Heading Estimation for Pedestrians Based on the Gravity Vector. IEEE Sensors Journal. ISSN 1530-437X. 21(6), p. 8218–8225. doi: 10.1109/JSEN.2021.3052430. Full text in Research Archive Show summary

  Inertial navigation of pedestrians carrying a smart device is a core component of many indoor positioning systems. While infrastructure-based solutions typically depend on an installation of dedicated hardware, inertial navigation depends only on sensors embedded in the device itself. A single solution can thus be applied to a large range of use cases. This work focuses on one of the main challenges in inertial navigation: user heading estimation. We describe a complete statistical model for heading estimation based on the IMU and magnetometer, assuming a fixed device pose on the pedestrian. Our aim is to provide a stand-alone solution, suitable for direct implementation into a larger positioning framework. The method consists of two consecutive parts. The first focuses on gravity vector estimation based on IMU data. We describe a method for obtaining independent estimates under dynamic conditions, thereby removing the quasi-static initialization phase required by conventional methods. The second part combines the gravity vector with gyro and magnetic measurements to estimate user heading. The proposed method is tested against a motion capture system, and against an alternative method based on attitude. We find that both methods produce similar results in terms of accuracy.

• Aparicio, Joaquin; Aguilera, Teodoro & Alvarez, Fernando J. (2020). Robust airborne ultrasonic positioning of moving targets in weak signal coverage areas. IEEE Sensors Journal. ISSN 1530-437X. 20(21), p. 13119–13130. doi: 10.1109/JSEN.2020.3003523. Full text in Research Archive

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• Aparicio, Joaquin; Thio, Vincent Martello Kwie Hoe & Holm, Sverre (2022). Range evaluation between indoor microphones obtained from acoustic ambient noise cross-correlations.
• Aparicio, Joaquin & Holm, Sverre (2021). Evaluation of acoustic ambient noise cross-correlations in indoor environments.
• Aparicio, Joaquin (2019). Acoustic daylight: Concept and applications on different fields.
• Aparicio, Joaquin; Alvarez, Fernando; Hernandez, Alvaro & Holm, Sverre (2019). A review of techniques for ultrasonic indoor localization systems.

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