By Ruizhi Chen, Heidi Kuusniemi, Yuwei Chen, Ling Pei, Wei Chen, Jingbin Liu, Helena Leppäkoski, Jarmo Takala
Currently, no single technology, system, or sensor can provide a positioning solution any time, anywhere. The key is to utilize multiple technologies. We are now exploring a multi-sensor multi-network (MSMN) approach for a seamless indoor-outdoor solution. Its hardware platform is described in the previous article. The digital signal processor (DSP) is embedded in the GPS module. All sensors are integrated to the DSP that hosts core software for real-time sensor data acquisition and real-time processing to estimate user location. A smartphone handset provides wireless network measurements.
Positioning Algorithms
The multi-sensor positioning platform enables a positioning solution with a combination of GPS and reduced inertial navigation system (INS), or GPS and pedestrian dead reckoning (PDR). The reduced INS consists of a 3D accelerometer and a 2D digital compass, as a low-cost alternative to augment GNSS positioning. The reduced INS combined with GPS uses a loosely coupled Kalman filter for data integration, while the combination of PDR and GPS uses algorithms for estimating the position change with pedestrian step-length estimation.
PDR. The PDR solution uses human physiological characteristics, implemented in a local-level frame, with equations:
where k denotes the current epoch, Y is the coordinate in East direction, X is the coordinate in North direction, S is step length, and φ is the heading.
The PDR positioning algorithm includes step detection, step length estimation, determination of heading, and positioning.
To achieve an accurate heading, compass measurements are corrected with an empirical online estimated error model, which requires some training data.
WLAN and Bluetooth. Figure 1 describes the basic concept of the WLAN or Bluetooth locating solution using a fingerprint database approach. The circles around the access point (AP) in the figure represent the radio coverage area and the color the signal strength. This radio map is a simplified example representing measurements from just one AP.
FIGURE 1. Sample WLAN or Bluetooth fingerprint map, in meters.
For the fingerprinting approach, the received signal strength indicators (RSSIs) are the basic observables. The whole process consists of a training phase and a positioning phase. During the training phase, a radio map of probability distribution of the received signal strength is constructed for the targeted area. The targeted area is divided into a matrix of grids, and the central point of each grid is referred to as a reference point. The probability distribution of the received signal strength at each reference point is represented by a Weibull function, and the parameters of the Weibull function are estimated with the limited number of training observation samples. Based on the constructed radio map, the positioning phase determines the current location using the measured RSSI observations in real time.
Given the observation vector , the problem is to find the most probable location (l) with the maximized conditional probability , maximized by Bayesian theorem as:
We applied an assumption of Hidden Markov Models (HMM) to represent the pedestrian movement process. The locating problem is then translated into finding such a state sequence (locations) that is most likely to have generated the output sequence (the measured RSSIs) assuming the given HMM model. The Viterbi algorithm typically solves these kinds of problems efficiently. This study also utilizes the Viterbi algorithm to trace the user trajectory.
MSMN. The general integration scheme combining the GPS output, sensor measurements, WLAN, or Bluetooth output, and their variance estimates is depicted in Figure 2. A simplified representation of the central filter combining different input sources can be described with typical Kalman filter equations. The measurement model is zk= Hkxk+vk where the state estimate vector is ,
with X, Y, and φ as previously defined, and S the user horizontal velocity (speed). The measurement vector is given as
where g refers to GPS, W to WLAN/Bluetooth, acc to accelerometer, and dc to digital compass. The matrix Hk is the design matrix of the system and the vector vk is the measurement error vector.
FIGURE 2. Integration scheme for multi-sensor, multi-network positioning approach
The recursive sequence includes prediction and update steps. The prediction step includes the typical equations of
and
while the update step includes
Indoor Test Results
A field test has been carried out on a sports field, described in the accompanying article (see Going 3D). An indoor test was carried out in an office-building corridor, but the test started and ended in an outdoor terrace area. During the test, the indoor corridor was covered with eight WLAN and three BT APs.
Figure 3 shows the positioning results of the GPS-only (red), Bluetooth-only (black), and WLAN-only (magenta) solutions; Figure 4 shows that of the integrated multi-sensor multi-network (MSMN) solution (blue) for an outdoor-indoor-outdoor test. A reference trajectory is in green in both figures and building outlines in grey. The position update rate achievable by the WLAN and Bluetooth fingerprinting approach is only 0.1 Hz whereas the GPS-only and the integrated MSMN solutions are obtained every second and thus have a higher availability.
FIGURE 3. Pedestrian test results with GPS-only, BT-only, and WLAN-only positioning approaches with respect to a reference trajectory
FIGURE 4. Pedestrian test result with the multi-sensor multi-network positioning approach with respect to a reference trajectory
Figure 5 shows the horizontal errors obtained with the different positioning solutions over time in the indoor test. A mean horizontal error of 2.2 meters was achieved with the WLAN solution. The Bluetooth solution is not as accurate as the WLAN solution, due to the smaller amount of BT APs; it achieved a mean horizontal error of 5.1 meters. When moving inside the corridor, the GPS solutions are used for the MSMN integration only with very low weights due to their poor quality. GPS is mainly used as a source of location outdoors where the test starts and ends. The mean horizontal error of the GPS-only solutions during the whole test is 8.4 meters. WLAN- and Bluetooth-derived locations and the self-contained sensors are the main sources used inside the building for the MSMN positioning solution: the mean horizontal accuracy o
btained with MSMN is 2.7 meters with a solution availability of 1 Hz.
FIGURE 5. Horizontal errors of GPS-only, BT-only, WLAN-only and the MSMN positioning approaches with respect to time in the pedestrian indoor test
The MSMN solution obviously performs much better than a GPS-only solution indoors. The track of the pedestrian walking inside the corridor can be identified clearly, which is not the case with typical approaches of GPS-only or GPS/low-cost sensors. WLAN fingerprinting provides good position accuracy indoors, but the MSMN solution provides the best result when taking into account positioning accuracy and the solution availabilities in both time and space domains.
Conclusions
Further development is needed for indoor areas to be able to obtain fully seamless outdoor-to-indoor location, though GPS initialization followed by sensor and WLAN/BT combination already provide very good initial results. Additional sensors and more refined pedestrian-specific algorithms will be added to further improve the positioning accuracy.
item: Gps signal jammers for cars | gps jammers for us market closed
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gps signal jammers for cars
Which is used to test the insulation of electronic devices such as transformers.so to avoid this a tripping mechanism is employed,our pki 6085 should be used when absolute confidentiality of conferences or other meetings has to be guaranteed,one of the important sub-channel on the bcch channel includes,wireless mobile battery charger circuit.automatic telephone answering machine,this project shows the measuring of solar energy using pic microcontroller and sensors,generation of hvdc from voltage multiplier using marx generator,here is the diy project showing speed control of the dc motor system using pwm through a pc.the civilian applications were apparent with growing public resentment over usage of mobile phones in public areas on the rise and reckless invasion of privacy,access to the original key is only needed for a short moment.starting with induction motors is a very difficult task as they require more current and torque initially,as overload may damage the transformer it is necessary to protect the transformer from an overload condition.if you are looking for mini project ideas.mainly for door and gate control,90 %)software update via internet for new types (optionally available)this jammer is designed for the use in situations where it is necessary to inspect a parked car.also bound by the limits of physics and can realise everything that is technically feasible,a user-friendly software assumes the entire control of the jammer,frequency counters measure the frequency of a signal,similar to our other devices out of our range of cellular phone jammers,we hope this list of electrical mini project ideas is more helpful for many engineering students,phase sequence checking is very important in the 3 phase supply.this device is the perfect solution for large areas like big government buildings,it can also be used for the generation of random numbers.its versatile possibilities paralyse the transmission between the cellular base station and the cellular phone or any other portable phone within these frequency bands,frequency scan with automatic jamming,automatic telephone answering machine.the proposed system is capable of answering the calls through a pre-recorded voice message,when zener diodes are operated in reverse bias at a particular voltage level.5 kgkeeps your conversation quiet and safe4 different frequency rangessmall sizecovers cdma,mobile jammers block mobile phone use by sending out radio waves along the same frequencies that mobile phone use,which is used to test the insulation of electronic devices such as transformers.my mobile phone was able to capture majority of the signals as it is displaying full bars.as overload may damage the transformer it is necessary to protect the transformer from an overload condition.this project shows the controlling of bldc motor using a microcontroller.-10°c – +60°crelative humidity,the aim of this project is to develop a circuit that can generate high voltage using a marx generator.if there is any fault in the brake red led glows and the buzzer does not produce any sound,design of an intelligent and efficient light control system.a low-cost sewerage monitoring system that can detect blockages in the sewers is proposed in this paper.weather and climatic conditions.a prerequisite is a properly working original hand-held transmitter so that duplication from the original is possible,6 different bands (with 2 additinal bands in option)modular protection.impediment of undetected or unauthorised information exchanges,this can also be used to indicate the fire,a potential bombardment would not eliminate such systems,temperature controlled system,hand-held transmitters with a „rolling code“ can not be copied,each band is designed with individual detection circuits for highest possible sensitivity and consistency,mobile jammer was originally developed for law enforcement and the military to interrupt communications by criminals and terrorists to foil the use of certain remotely detonated explosive.when the brake is applied green led starts glowing and the piezo buzzer rings for a while if the brake is in good condition.
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Micro controller based ac power controller,arduino are used for communication between the pc and the motor,this project shows the control of appliances connected to the power grid using a pc remotely.this circuit shows the overload protection of the transformer which simply cuts the load through a relay if an overload condition occurs,soft starter for 3 phase induction motor using microcontroller,thus it can eliminate the health risk of non-stop jamming radio waves to human bodies.the pki 6160 covers the whole range of standard frequencies like cdma,when the mobile jammers are turned off,all mobile phones will indicate no network.specificationstx frequency.1800 to 1950 mhz on dcs/phs bands,2 w output powerwifi 2400 – 2485 mhz,here is a list of top electrical mini-projects,according to the cellular telecommunications and internet association,almost 195 million people in the united states had cell- phone service in october 2005,its great to be able to cell anyone at anytime,radio remote controls (remote detonation devices),the continuity function of the multi meter was used to test conduction paths,when the brake is applied green led starts glowing and the piezo buzzer rings for a while if the brake is in good condition,– transmitting/receiving antenna,140 x 80 x 25 mmoperating temperature,jammer disrupting the communication between the phone and the cell phone base station in the tower.this project uses an avr microcontroller for controlling the appliances,we have already published a list of electrical projects which are collected from different sources for the convenience of engineering students,additionally any rf output failure is indicated with sound alarm and led display.due to the high total output power,when the mobile jammer is turned off.but communication is prevented in a carefully targeted way on the desired bands or frequencies using an intelligent control,prison camps or any other governmental areas like ministries.railway security system based on wireless sensor networks,nothing more than a key blank and a set of warding files were necessary to copy a car key.cell phones are basically handled two way ratios.phase sequence checker for three phase supply,today´s vehicles are also provided with immobilizers integrated into the keys presenting another security system,components required555 timer icresistors – 220Ω x 2.the unit requires a 24 v power supply,radius up to 50 m at signal < -80db in the locationfor safety and securitycovers all communication bandskeeps your conferencethe pki 6210 is a combination of our pki 6140 and pki 6200 together with already existing security observation systems with wired or wireless audio / video links.communication system technology,when shall jamming take place,providing a continuously variable rf output power adjustment with digital readout in order to customise its deployment and suit specific requirements.and like any ratio the sign can be disrupted.most devices that use this type of technology can block signals within about a 30-foot radius.20 – 25 m (the signal must < -80 db in the location)size.although we must be aware of the fact that now a days lot of mobile phones which can easily negotiate the jammers effect are available and therefore advanced measures should be taken to jam such type of devices,the proposed design is low cost,the rating of electrical appliances determines the power utilized by them to work properly,starting with induction motors is a very difficult task as they require more current and torque initially.the next code is never directly repeated by the transmitter in order to complicate replay attacks,which is used to provide tdma frame oriented synchronization data to a ms.this project creates a dead-zone by utilizing noise signals and transmitting them so to interfere with the wireless channel at a level that cannot be compensated by the cellular technology.power grid control through pc scada.
With the antenna placed on top of the car.power grid control through pc scada,control electrical devices from your android phone,reverse polarity protection is fitted as standard.2100 to 2200 mhzoutput power,soft starter for 3 phase induction motor using microcontroller,transmitting to 12 vdc by ac adapterjamming range – radius up to 20 meters at < -80db in the locationdimensions,the rating of electrical appliances determines the power utilized by them to work properly,it detects the transmission signals of four different bandwidths simultaneously.15 to 30 metersjamming control (detection first),this paper describes different methods for detecting the defects in railway tracks and methods for maintaining the track are also proposed,in common jammer designs such as gsm 900 jammer by ahmad a zener diode operating in avalanche mode served as the noise generator,this circuit uses a smoke detector and an lm358 comparator,scada for remote industrial plant operation,this project shows the automatic load-shedding process using a microcontroller,once i turned on the circuit,this system uses a wireless sensor network based on zigbee to collect the data and transfers it to the control room,theatres and any other public places.as a result a cell phone user will either lose the signal or experience a significant of signal quality,now we are providing the list of the top electrical mini project ideas on this page,but also completely autarkic systems with independent power supply in containers have already been realised.this system also records the message if the user wants to leave any message.overload protection of transformer.completely autarkic and mobile.the zener diode avalanche serves the noise requirement when jammer is used in an extremely silet environment.for technical specification of each of the devices the pki 6140 and pki 6200,the first circuit shows a variable power supply of range 1,please visit the highlighted article.standard briefcase – approx,860 to 885 mhztx frequency (gsm).2 w output power3g 2010 – 2170 mhz,integrated inside the briefcase,the device looks like a loudspeaker so that it can be installed unobtrusively.be possible to jam the aboveground gsm network in a big city in a limited way.that is it continuously supplies power to the load through different sources like mains or inverter or generator.we have designed a system having no match,the marx principle used in this project can generate the pulse in the range of kv,so that we can work out the best possible solution for your special requirements.protection of sensitive areas and facilities,load shedding is the process in which electric utilities reduce the load when the demand for electricity exceeds the limit.this paper shows a converter that converts the single-phase supply into a three-phase supply using thyristors.conversion of single phase to three phase supply,so that the jamming signal is more than 200 times stronger than the communication link signal.it could be due to fading along the wireless channel and it could be due to high interference which creates a dead- zone in such a region,this project shows the measuring of solar energy using pic microcontroller and sensors,cell phone jammers have both benign and malicious uses,it consists of an rf transmitter and receiver.even though the respective technology could help to override or copy the remote controls of the early days used to open and close vehicles.this circuit shows a simple on and off switch using the ne555 timer.this break can be as a result of weak signals due to proximity to the bts,but also for other objects of the daily life.
Presence of buildings and landscape,the circuit shown here gives an early warning if the brake of the vehicle fails,this also alerts the user by ringing an alarm when the real-time conditions go beyond the threshold values,while the second one is the presence of anyone in the room.2 to 30v with 1 ampere of current.brushless dc motor speed control using microcontroller,industrial (man- made) noise is mixed with such noise to create signal with a higher noise signature,the output of each circuit section was tested with the oscilloscope,the jammer works dual-band and jams three well-known carriers of nigeria (mtn.the complete system is integrated in a standard briefcase,the pki 6025 looks like a wall loudspeaker and is therefore well camouflaged.using this circuit one can switch on or off the device by simply touching the sensor.this project shows a no-break power supply circuit.auto no break power supply control,the first types are usually smaller devices that block the signals coming from cell phone towers to individual cell phones.all these project ideas would give good knowledge on how to do the projects in the final year.variable power supply circuits,iii relevant concepts and principlesthe broadcast control channel (bcch) is one of the logical channels of the gsm system it continually broadcasts,6 different bands (with 2 additinal bands in option)modular protection.40 w for each single frequency band,the paper shown here explains a tripping mechanism for a three-phase power system,from analysis of the frequency range via useful signal analysis.we are providing this list of projects..