Accurate Low Complexity Quadrature Angular Diversity Aperture Receiver for Visible Light Positioning.

Despite the many potential applications of an accurate indoor positioning system (IPS), no universal, readily available system exists. Much of the IPS research to date has been based on the use of radio transmitters as positioning beacons. Visible light positioning (VLP) instead uses LED lights as beacons. Either cameras or photodiodes (PDs) can be used as VLP receivers, and position estimates are usually based on either the angle of arrival (AOA) or the strength of the received signal. Research on the use of AOA with photodiode receivers has so far been limited by the lack of a suitable compact receiver. The quadrature angular diversity aperture receiver (QADA) can fill this gap. In this paper, we describe a new QADA design that uses only three readily available parts: a quadrant photodiode, a 3D-printed aperture, and a programmable system on a chip (PSoC). Extensive experimental results demonstrate that this design provides accurate AOA estimates within a room-sized test chamber. The flexibility and programmability of the PSoC mean that other sensors can be supported by the same PSoC. This has the potential to allow the AOA estimates from the QADA to be combined with information from other sensors to form future powerful sensor-fusion systems requiring only one beacon.

Application of Indoor Positioning Systems in Nursing Homes: Enhancing Resident Safety and Staff Efficiency.

Providing a safe and secure living environment for residents that is supported by a dedicated healthcare team is one of the core values of nursing homes. Nursing homes must protect residents from the risk of going missing, track quarantined residents and visitors to control the spread of infection, and maintain proactive nursing rounds. However, recruiting and retaining qualified caregivers and medical staff has long been a challenge. Therefore, using advanced technology to ensure the safety and security of residents is highly desirable. In this work, we first demonstrate the applicability of indoor tracking applications in a nursing home, such as resident and asset tracking, nursing assistant management, visitor tracking, infection control, and vital-sign monitoring. To monitor the locations of residents and staff, Bluetooth tags were used, providing real-time data for location tracking. We then conduct a series of quantitative analyses to illustrate how indoor tracking data can support the management of nursing homes, including characterizing residents' activities in daily living and assessing the performance and workload of nursing assistants. Finally, we use qualitative research to evaluate the acceptability of an indoor positioning system in the nursing home. The results show that the implemented indoor positioning applications can improve the quality of healthcare and working efficiency, thereby providing a safer and more secure living environment for residents.

A Survey of Visible-Light-Communication-Based Indoor Positioning Systems.

There is a growing demand for indoor positioning systems (IPSs) in a wide range of applications. However, traditional solutions such as GPS face many technical challenges. In recent years, a promising alternative has been emerging, the visible light communication (VLC)-based IPS, which offers a combination of high accuracy, low cost, and energy efficiency. This article presents a comprehensive review of VLC-based IPSs, providing a tutorial-like overview of the system. It begins by comparing various positioning systems and providing background information on their inherent limitations. Experimental results have demonstrated that VLC-based systems can achieve localization accuracy to within 10 cm in controlled environments. The mechanisms of VLC-based IPSs are then discussed, including a comprehensive examination of their performance metrics and underlying assumptions. The complexity, operating range, and efficiency of VLC-based IPSs are examined by analyzing factors such as channel modeling, signal processing, and localization algorithms. To optimize VLC-based IPSs, various strategies are explored, including the design of efficient modulation schemes, the development of advanced encoding and decoding algorithms, the implementation of adaptive power control, and the application of state-of-the-art localization algorithms. In addition, system parameters are carefully examined. These include LED placement, receiver sensitivity, and transmit power. Their impact on energy efficiency and localization accuracy is highlighted. Altogether, this paper serves as a comprehensive guide to VLC IPSs, providing in-depth insights into their vast potential and the challenges that they present.

Data reconciliation of indoor positioning data: Improve position data accuracy in warehouse environment.

This article focuses on improving indoor positioning data through data reconciliation. Indoor positioning systems are increasingly used for resource tracking to monitor manufacturing and warehouse processes. However, measurement errors due to noise can negatively impact system performance. Redundant measurement involves the use of multiple sensor tags that provide position data on the same resource, to identify errors in the physical environment. If we have measurement data from the entire physical environment, a map-based average measurement error can be determined by specifying the points in the examined area where measurement data should be compensated and to what extent. This compensation is achieved through data reconciliation, which improves real-time position data by considering the measurement error in the actual position as an element of the variance-covariance matrix. A case study in a warehouse environment is presented to demonstrate how discrepancies in position data from two sensor tags on forklifts can be used to identify layout-based errors. The algorithm is generally capable of handling the multi-sensor problem in the case of indoor positioning systems. The key points are as follows:•The layout-based error detection is determined with the indoor positioning system measurement error.•This article shows how redundant measurements and data reconciliation can improve the accuracy of such systems.•Improving the accuracy of position data with the layout-based error map using a data reconciliation algorithm.

Vision-Based UAV Detection and Localization to Indoor Positioning System.

In recent years, the technological landscape has undergone a profound metamorphosis catalyzed by the widespread integration of drones across diverse sectors. Essential to the drone manufacturing process is comprehensive testing, typically conducted in controlled laboratory settings to uphold safety and privacy standards. However, a formidable challenge emerges due to the inherent limitations of GPS signals within indoor environments, posing a threat to the accuracy of drone positioning. This limitation not only jeopardizes testing validity but also introduces instability and inaccuracies, compromising the assessment of drone performance. Given the pivotal role of precise GPS-derived data in drone autopilots, addressing this indoor-based GPS constraint is imperative to ensure the reliability and resilience of unmanned aerial vehicles (UAVs). This paper delves into the implementation of an Indoor Positioning System (IPS) leveraging computer vision. The proposed system endeavors to detect and localize UAVs within indoor environments through an enhanced vision-based triangulation approach. A comparative analysis with alternative positioning methodologies is undertaken to ascertain the efficacy of the proposed system. The results obtained showcase the efficiency and precision of the designed system in detecting and localizing various types of UAVs, underscoring its potential to advance the field of indoor drone navigation and testing.

Indoor Positioning System (IPS) Using Ultra-Wide Bandwidth (UWB)-For Industrial Internet of Things (IIoT).

The integration of the physical and digital world has become increasingly important, and location-based services have become the most sought-after application in the field of the Internet of Things (IoT). This paper delves into the current research on ultra-wideband (UWB) indoor positioning systems (IPS). It begins by examining the most common wireless communication-based technologies for IPSs followed by a detailed explanation of UWB. Then, it presents an overview of the unique characteristics of UWB technology and the challenges still faced by the IPS implementation. Finally, the paper evaluates the advantages and limitations of using machine learning algorithms for UWB IPS.

Indoor high-precision visible light positioning system using Jaya algorithm.

Several indoor positioning systems that utilize visible light communication (VLC) have recently been developed. Due to the simple implementation and high precision, most of these systems are dependent on received signal strength (RSS). The position of the receiver can be estimated according to the positioning principle of the RSS. To improve positioning precision, an indoor three-dimensional (3D) visible light positioning (VLP) system with the Jaya algorithm is proposed. In contrast to other positioning algorithms, the Jaya algorithm has a simple structure with only one phase and achieves high accuracy without controlling the parameter settings. The simulation results show that an average error of 1.06 cm is achieved using the Jaya algorithm in 3D indoor positioning. The average errors of 3D positioning using the Harris Hawks optimization algorithm (HHO), ant colony algorithm with an area-based optimization model (ACO-ABOM), and modified artificial fish swam algorithm (MAFSA) are 2.21 cm, 1.86 cm and 1.56 cm, respectively. Furthermore, simulation experiments are performed in motion scenes, where a high-precision positioning error of 0.84 cm is achieved. The proposed algorithm is an efficient method for indoor localization and outperforms other indoor positioning algorithms.

An indoor location-based hospital Porter management system and trace analysis.

Porters play an important role in supporting hospital operations. Their responsibilities include transporting patients and medical equipment between wards and departments. They also need to deliver specimens, drugs, and patients' notes to the correct place at the right time. Therefore, maintaining a trustworthy and reliable porter team is crucial for hospitals to ensure the quality of patient care and smooth the flow of daily operations. However, most existing porter systems lack detailed information about the porter movement process. For example, the location of porters is not transparent to the dispatch center. Thus, the dispatcher does not know if porters are spending all their time providing services. The invisibility makes it difficult for hospitals to assess and improve the efficiency of porter operations. In this work, we first developed an indoor location-based porter management system (LOPS) on top of the infrastructure of indoor positioning services in the hospital National Taiwan University Hospital YunLin Branch. The LOPS provides real-time location information of porters for the dispatcher to prioritize tasks and manage assignments. We then conducted a 5-month field trial to collect porters' traces. Finally, a series of quantitative analyses were performed to assess the efficiency of porter operations, such as the movement distribution of porters in different time periods and areas, workload distribution among porters, and possible bottlenecks of delivering services. Based on the analysis results, recommendations were given to improve the efficiency of the porter team.

Use of a commercial indoor positioning system for monitoring resting time and moving distance in group-housed dairy calves.

To assess the usefulness of a commercially available indoor positioning system for monitoring the resting time and moving distance in group-housed dairy calves as indicators of their health status, five dairy calves were housed in a free barn, and their coordinate was recorded. The mean displacement (cm/s) within a minute showed a double-mixture distribution. Actual observations revealed that the minutes in the first distribution with shorter displacement were mostly the time that the calves spent lying. To predict the daily lying time and moving distance, a mixed distribution was divided at a threshold value. The mean sensitivity (the proportion of total minutes predicted correctly as lying, in total minutes observed lying) was more than 92%. The daily fluctuation in lying time correlated well with the actual lying time (r = 0.758, p < 0.01). The range of fluctuations was 740-1308 min/day and 724-1269 m/day for daily lying time and moving distance, respectively. The rectal temperature was correlated with daily lying time (r = 0.441, p < 0.001) and distance moved (r = 0.483, p < 0.001). The indoor positioning system can be a useful tool for early illness detection in calves before the onset of symptoms in group-housing systems.

A Wi-Fi-Based Passive Indoor Positioning System via Entropy-Enhanced Deployment of Wi-Fi Sniffers.

This study presents a Wi-Fi-based passive indoor positioning system (IPS) that does not require active collaboration from the user or additional interfaces on the device-under-test (DUT). To maximise the accuracy of the IPS, the optimal deployment of Wi-Fi Sniffers in the area of interest is crucial. A modified Genetic Algorithm (GA) with an entropy-enhanced objective function is proposed to optimize the deployment. These Wi-Fi Sniffers are used to scan and collect the DUT's Wi-Fi received signal strength indicators (RSSIs) as Wi-Fi fingerprints, which are then mapped to reference points (RPs) in the physical world. The positioning algorithm utilises a weighted k-nearest neighbourhood (WKNN) method. Automated data collection of RSSI on each RP is achieved using a surveying robot for the Wi-Fi 2.4 GHz and 5 GHz bands. The preliminary results show that using only 20 Wi-Fi Sniffers as features for model training, the offline positioning accuracy is 2.2 m in terms of root mean squared error (RMSE). A proof-of-concept real-time online passive IPS is implemented to show that it is possible to detect the online presence of DUTs and obtain their RSSIs as online fingerprints to estimate their position.

How many days of indoor positioning system data are required to characterise typical movement behaviours of office workers?

Indoor Positioning Systems (IPS) appear to offer great potential to study the movement and interaction of people and their working environment, including office workplaces. But little is known about appropriate durations for data collection. In this study, location observations collected from 24 office workers on a 1220 m2 office floor over a 3-month period, were analysed to determine how many days are required to estimate their typical movement and spatial behaviours. The analysis showed that up to 8 days of data was sufficient to characterise participants' typical daily movement behaviours and 10 days were required to estimate their typical spatial mobility. However, the results also indicate that 5 weeks of data collection are required to gather the necessary 10 days of data from each participant. These findings will help researchers and workplace professionals to understand the capabilities and requirements of IPS when considering their use in indoor work environments.

SLAM Back-End Optimization Algorithm Based on Vision Fusion IPS.

SLAM (Simultaneous Localization and Mapping) is mainly composed of five parts: sensor data reading, front-end visual odometry, back-end optimization, loopback detection, and map building. And when visual SLAM is estimated by visual odometry only, cumulative drift will inevitably occur. Loopback detection is used in classical visual SLAM, and if loopback is not detected during operation, it is not possible to correct the positional trajectory using loopback. Therefore, to address the cumulative drift problem of visual SLAM, this paper adds Indoor Positioning System (IPS) to the back-end optimization of visual SLAM, and uses the two-label orientation method to estimate the heading angle of the mobile robot as the pose information, and outputs the pose information with position and heading angle. It is also added to the optimization as an absolute constraint. Global constraints are provided for the optimization of the positional trajectory. We conducted experiments on the AUTOLABOR mobile robot, and the experimental results show that the localization accuracy of the SLAM back-end optimization algorithm with fused IPS can be maintained between 0.02 m and 0.03 m, which meets the requirements of indoor localization, and there is no cumulative drift problem when there is no loopback detection, which solves the problem of cumulative drift of the visual SLAM system to some extent.

Kinematics Calibration and Validation Approach Using Indoor Positioning System for an Omnidirectional Mobile Robot.

Monitoring and tracking issues related to autonomous mobile robots are currently intensively debated in order to ensure a more fluent functionality in supply chain management. The interest arises from both theoretical and practical concerns about providing accurate information about the current and past position of systems involved in the logistics chain, based on specialized sensors and Global Positioning System (GPS). The localization demands are more challenging as the need to monitor the autonomous robot's ongoing activities is more stringent indoors and benefit from accurate motion response, which requires calibration. This practical research study proposes an extended calibration approach for improving Omnidirectional Mobile Robot (OMR) motion response in the context of mechanical build imperfections (misalignment). A precise indoor positioning system is required to obtain accurate data for calculating the calibration parameters and validating the implementation response. An ultrasound-based commercial solution was considered for tracking the OMR, but the practical observed errors of the readily available position solutions requires special processing of the raw acquired measurements. The approach uses a multilateration technique based on the point-to-point distances measured between the mobile ultrasound beacon and a current subset of fixed (reference) beacons, in order to obtain an improved position estimation characterized by a confidence coefficient. Therefore, the proposed method managed to reduce the motion error by up to seven-times. Reference trajectories were generated, and robot motion response accuracy was evaluated using a Robot Operating System (ROS) node developed in Matlab-Simulink that was wireless interconnected with the other ROS nodes hosted on the robot navigation controller.

Single LED, Single PD-Based Adaptive Bayesian Tracking Method.

Recently, with the growing interest in indoor location-based services, visible light positioning (VLP) systems have been extensively studied owing to their advantages of low cost, high energy efficiency, and no electromagnetic interference. However, due to structural limitations which lead to the requirement of multiple signal sources, it has been challenging to apply VLP in real-world scenarios. In this study, we propose a single LED, single PD-based tracking system that solves these problems by applying a new Bayesian method that can effectively reduce the computational burden of particle filters. The method of evaluating particle reliability developed in this work adjusts the number of particles on the fly. Using the absolute position of the single LED source, the long-term cumulative error of the inertial measurement unit can be continuously corrected. In this regard, the applicability of the VLP system can be enhanced in places where the multiple luminescent signals are hard to consistently detect. The proposed system was verified through experiments in a classroom and a corridor, and the results show an average error of less than 11 cm at travel distances of 80 to 100 m.

An Efficient IAKF Approach for Indoor Positioning Drift Correction.

In this study, an indoor positioning shift correction architecture was developed with an improved adaptive Kalman filter (IAKF) algorithm for the people interference condition. Indoor positioning systems (IPSs) use ultra-wideband (UWB) communication technology. Triangulation positioning algorithms are generally employed for determining the position of a target. However, environmental communication factors and different network topologies produce localization drift errors in IPSs. Therefore, the drift error of real-time positioning points under various environmental factors and the correction of the localization drift error are discussed. For localization drift error, four algorithms were simulated and analyzed: movement average (MA), least square (LS), Kalman filter (KF), and IAKF. Finally, the IAKF algorithm was implemented and verified on the UWB indoor positioning system. The measurement results showed that the drift errors improved by 60% and 74.15% in environments with and without surrounding crowds, respectively. Thus, the coordinates of real-time positioning points are closer to those of actual targets.

Artificial Neural Network Approach to Guarantee the Positioning Accuracy of Moving Robots by Using the Integration of IMU/UWB with Motion Capture System Data Fusion.

This study presents an effective artificial neural network (ANN) approach to combine measurements from inertial measurement units (IMUs) and time-of-flight (TOF) measurements from an ultra-wideband (UWB) system with OptiTrack Motion Capture System (OptiT-MCS) data to guarantee the positioning accuracy of motion tracking in indoor environments. The proposed fusion approach unifies the following advantages of both technologies: high data rates from the MCS, and global translational precision from the inertial measurement unit (IMU)/UWB localization system. Consequently, it leads to accurate position estimates when compared with data from the IMU/UWB system relative to the OptiT-MCS reference system. The calibrations of the positioning IMU/UWB and MCS systems are utilized in real-time movement with a diverse set of motion recordings using a mobile robot. The proposed neural network (NN) approach experimentally revealed accurate position estimates, giving an enhancement average mean absolute percentage error (MAPE) of 17.56% and 7.48% in the X and Y coordinates, respectively, and the coefficient of correlation R greater than 99%. Moreover, the experimental results prove that the proposed NN fusion is capable of maintaining high accuracy in position estimates while preventing drift errors from increasing in an unbounded manner, implying that the proposed approach is more effective than the compared approaches.

Indoor Positioning System with UWB Based on a Digital Twin.

Ultra-wideband (UWB) technology is used for indoor positioning, but its positioning accuracy is usually degenerated by various obstacles in the indoor environment because of non-line-of-sight (NLOS). Facing the complex and changeable indoor environment, an indoor positioning system with UWB based on a digital twin is presented in this paper. The indoor positioning accuracy is improved with a perception-prediction feedback of cyber-physics space in this indoor positioning system. In addition, an anchor layout method with virtuality-reality interaction and an error mitigation method based on neural networks is put forward in this system. Finally, a case study is presented to validate this indoor positioning system with a significant improvement in positioning accuracy.

Designing and developing a mobile application for indoor real-time positioning and navigation in healthcare facilities.

BACKGROUND: Navigation portable applications have largely grown during the last years. However, the majority of them works just for outdoor positioning and routing, due to their architecture based upon Global Positioning System signals. Real-Time Positioning System intended to provide position estimation inside buildings is known as Indoor Positioning System (IPS). OBJECTIVE: This paper presents an IPS implemented as a mobile application that can guide patients and visitors throughout a healthcare premise. METHODS: The proposed system exploits the geolocation capabilities offered by existing navigation frameworks for determining and displaying the user's position. A hybrid mobile application architecture has been adopted because it allows to deploy the code to multiple platforms, simplifying maintenance and upgrading. RESULTS: The developed application features two different working modes for on-site and off-site navigation, which offer both the possibility of actual navigation within the hospital, or planning a route from a list of available starting points to the desired target, without being within the navigable area. Tests have been conducted to evaluate the performance and the accuracy of the system. CONCLUSION: The proposed application aims to overcome the limitations of Global Navigation Satellite System by using magnetic fingerprinting in combination with sensor fusion simultaneously. This prevents to rely on a single technology, reducing possible system failures and increasing the scalability.

WLAN RSS-Based Fingerprinting for Indoor Localization: A Machine Learning Inspired Bag-of-Features Approach.

Location-based services have permeated Smart academic institutions, enhancing the quality of higher education. Position information of people and objects can predict different potential requirements and provide relevant services to meet those needs. Indoor positioning system (IPS) research has attained robust location-based services in complex indoor structures. Unforeseeable propagation loss in complex indoor environments results in poor localization accuracy of the system. Various IPSs have been developed based on fingerprinting to precisely locate an object even in the presence of indoor artifacts such as multipath and unpredictable radio propagation losses. However, such methods are deleteriously affected by the vulnerability of fingerprint matching frameworks. In this paper, we propose a novel machine learning framework consisting of Bag-of-Features and followed by a k-nearest neighbor classifier to categorize the final features into their respective geographical coordinate data. BoF calculates the vocabulary set using k-mean clustering, where the frequency of the vocabulary in the raw fingerprint data represents the robust final features that improve localization accuracy. Experimental results from simulation-based indoor scenarios and real-time experiments demonstrate that the proposed framework outperforms previously developed models.

Accuracy and Precision of Agents Orientation in an Indoor Positioning System Using Multiple Infrastructure Lighting Spotlights and a PSD Sensor.

In indoor localization there are applications in which the orientation of the agent to be located is as important as knowing the position. In this paper we present the results of the orientation estimation from a local positioning system based on position-sensitive device (PSD) sensors and the visible light emitted from the illumination of the room in which it is located. The orientation estimation will require that the PSD sensor receives signal from either 2 or 4 light sources simultaneously. As will be shown in the article, the error determining the rotation angle of the agent with the on-board sensor is less than 0.2 degrees for two emitters. On the other hand, by using 4 light sources the three Euler rotation angles are determined, with mean errors in the measurements smaller than 0.35° for the x- and y-axis and 0.16° for the z-axis. The accuracy of the measurement has been evaluated experimentally in a 2.5 m-high ceiling room over an area of 2.2 m2 using geodetic measurement tools to establish the reference ground truth values.