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E-raamat: Mobile Positioning and Tracking: From Conventional to Cooperative Techniques

(Aalborg University, Denmark),
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  • Sari: IEEE Press
  • Ilmumisaeg: 21-Jul-2017
  • Kirjastus: Wiley-IEEE Press
  • Keel: eng
  • ISBN-13: 9781119068822
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Mobile Positioning and Tracking: From Conventional to Cooperative TechniquesSuurem pilt
  • Formaat: PDF+DRM
  • Sari: IEEE Press
  • Ilmumisaeg: 21-Jul-2017
  • Kirjastus: Wiley-IEEE Press
  • Keel: eng
  • ISBN-13: 9781119068822
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The essential guide to state-of-the art mobile positioning and tracking techniques—fully updated for new and emerging trends in the field

Mobile Positioning and Tracking, Second Edition explores state-of-the-art mobile positioning solutions applied on top of current wireless communication networks. Application areas covered include positioning, data fusion and filtering, tracking, error mitigation, both conventional and cooperative positioning technologies and systems, and more. The authors fill the gap between positioning and communication systems, showing how features of wireless communications systems can be used for positioning purposes and how the retrieved location information can be used to enhance the performance of wireless networks.

Unlike other books on the subject, Mobile Positioning and Tracking: From Conventional to Cooperative Techniques, 2nd Edition covers the entire positioning and tracking value chain, starting from the measurement of positioning signals, and offering valuable insights into the theoretical fundamentals behind these methods and how they relate to application areas such as location-based services, as well as related disciplines and professional concerns, including global business considerations and the changing laws and standards governing wireless communication networks.

Fully updated and revised for the latest developments in the field, this Second Edition:

  • Features new chapters on UWB positioning and tracking, indoor positioning in WLAN, and multi-tag positioning in RFID
  • Explores an array of positioning and tracking systems based on satellite and terrestrial systems technologies and methods
  • Introduces advanced and novel topics such as localisation in heterogeneous and cooperative scenarios
  • Provides a bridge between research and industry with potential implementations of the solutions presented

Mobile positioning and tracking is subject to continuous innovations and improvements. This important working resource helps busy industry professionals and practitioners—including software and service developers—stay on top of emerging trends in the field. It is also a valuable reference for advanced students in related disciplines studying positioning and mobile technologies. 

About the Authors xv
List of Contributors
xvii
Preface xix
Acknowledgements xxi
List of Abbreviations
xxiii
Notations xxxi
1 Introduction
1(10)
Joao Figueiras
Francescantonio Delia Rosa
Simone Frattasi
1.1 Application Areas of Positioning (Chapter 2)
5(1)
1.2 Basics of Wireless Communications for Positioning (Chapter 3)
5(1)
1.3 Fundamentals of Positioning (Chapter 4)
5(1)
1.4 Data Fusion and Filtering Techniques (Chapter 5)
6(1)
1.5 Fundamentals of Tracking (Chapter 6)
6(1)
1.6 Error Mitigation Techniques (Chapter 7)
7(1)
1.7 Positioning Systems and Technologies (Chapter 8)
7(1)
1.8 Ultrawideband Positioning and Tracking (Chapter 9)
8(1)
1.9 Indoor Positioning in WLAN (Chapter 10)
8(1)
1.10 Cooperative Multi-tag Localization in RFID Systems (Chapter 11)
9(1)
1.11 Cooperative Mobile Positioning (Chapter 12)
9(2)
2 Application Areas of Positioning
11(32)
Simone Frattasi
2.1 Introduction
11(1)
2.2 Localization Framework
11(2)
2.3 Location-based Services
13(19)
2.3.1 LBS Ecosystem
13(2)
2.3.2 Taxonomies
15(11)
2.3.3 Context Awareness
26(3)
2.3.4 Privacy
29(3)
2.4 Location-based Network Optimization
32(3)
2.4.1 Radio Network Planning
32(1)
2.4.2 Radio Resource Management
32(3)
2.5 Patent Trends
35(4)
2.6 Conclusions
39(4)
3 Basics of Wireless Communications for Positioning
43(38)
Gilberto Berardinelli
Nicola Marchetti
3.1 Introduction
43(1)
3.2 Radio Propagation
44(11)
3.2.1 Path Loss
45(3)
3.2.2 Shadowing
48(1)
3.2.3 Small-scale Fading
49(3)
3.2.4 Radio Propagation and Mobile Positioning
52(2)
3.2.5 RSS-based Positioning
54(1)
3.3 Multiple-antenna Techniques
55(4)
3.3.1 Spatial Diversity
55(1)
3.3.2 Spatial Multiplexing
56(1)
3.3.3 Gains Obtained by Exploiting the Spatial Domain
57(2)
3.3.4 MI MO and Mobile Positioning
59(1)
3.4 Duplexing Methods
59(2)
3.4.1 Simplex Systems
59(1)
3.4.2 Half-duplex
59(1)
3.4.3 Full Duplex
60(1)
3.5 Modulation and Multiple-access Techniques
61(6)
3.5.1 Modulation Techniques
61(4)
3.5.2 Multiple-access Techniques
65(2)
3.5.3 OFDMA and Mobile Positioning
67(1)
3.6 Radio Resource Management and Mobile Positioning
67(3)
3.6.1 Handoff, Channel Reuse and Interference Adaptation
67(2)
3.6.2 Power Control
69(1)
3.7 Synchronization
70(2)
3.7.1 Centralized Synchronization
70(1)
3.7.2 Distributed Synchronization
71(1)
3.8 Cooperative Communications
72(3)
3.8.1 Cooperative MIMO
73(1)
3.8.2 Clustering
74(1)
3.8.3 Cooperative Routing
75(1)
3.8.4 RSS-based Cooperative Positioning
75(1)
3.9 Cognitive Radio and Mobile Positioning
75(3)
3.10 Conclusions
78(3)
4 Fundamentals of Positioning
81(28)
Joao Figueiras
4.1 Introduction
81(1)
4.2 Classification of Positioning Infrastructures
81(4)
4.2.1 Positioning-system Topology
82(1)
4.2.2 Physical Coverage Range
83(1)
4.2.3 Integration of Positioning Solutions
84(1)
4.3 Types of Measurements and Methods for their Estimation
85(4)
4.3.1 Cell ID
85(1)
4.3.2 Signal Strength
85(1)
4.3.3 Time of Arrival
86(1)
4.3.4 Time Difference of Arrival
87(1)
4.3.5 Angle of Arrival
88(1)
4.3.6 Personal-information Identification
89(1)
4.4 Positioning Techniques
89(11)
4.4.1 Proximity Sensing
89(2)
4.4.2 Triangulation
91(4)
4.4.3 Fingerprinting
95(3)
4.4.4 Dead Reckoning
98(1)
4.4.5 Hybrid Approaches
98(2)
4.5 Error Sources in Positioning
100(6)
4.5.1 Propagation
100(4)
4.5.2 Geometry
104(1)
4.5.3 Equipment and Technology
105(1)
4.6 Metrics of Location Accuracy
106(1)
4.6.1 Circular Error Probability
106(1)
4.6.2 Dilution of Precision
106(1)
4.6.3 Cramer--Rao Lower Bound
107(1)
4.7 Conclusions
107(2)
5 Data Fusion and Filtering Techniques
109(26)
Joao Figueiras
5.1 Introduction
109(1)
5.2 Least-squares Methods
110(7)
5.2.1 Linear Least Squares
111(1)
5.2.2 Recursive Least Squares
112(1)
5.2.3 Weighted Nonlinear Least Squares
113(4)
5.2.4 The Absolute/Local-minimum Problem
117(1)
5.3 Bayesian Filtering
117(9)
5.3.1 The Kalman Filter
118(6)
5.3.2 The Particle Filter
124(2)
5.3.3 Grid-based Methods
126(1)
5.4 Estimating Model Parameters and Biases in Observations
126(2)
5.4.1 Precalibration
127(1)
5.4.2 Joint Parameter and State Estimation
127(1)
5.5 Alternative Approaches
128(4)
5.5.1 Fingerprinting
128(3)
5.5.2 Time Series Data
131(1)
5.6 Conclusions
132(3)
6 Fundamentals of Tracking
135(28)
Joao Figueiras
6.1 Introduction
135(1)
6.2 Impact of User Mobility on Positioning
136(1)
6.2.1 Localizing Static Devices
136(1)
6.2.2 Added Complexity in Tracking
136(1)
6.2.3 Additional Knowledge in Cooperative Environments
136(1)
6.3 Mobility Models
137(13)
6.3.1 Conventional Models
137(1)
6.3.2 Models Based on Stochastic Processes
137(7)
6.3.3 Geographical-restriction Models
144(2)
6.3.4 Group Mobility Models
146(1)
6.3.5 Social-based Models
147(3)
6.4 Tracking Moving Devices
150(10)
6.4.1 Mitigating Obstructions in the Propagation Conditions
150(1)
6.4.2 Tracking Nonmaneuvering Targets
151(1)
6.4.3 Tracking Maneuvering Targets
152(3)
6.4.4 Learning Position and Trajectory Patterns
155(5)
6.5 Conclusions
160(3)
7 Error Mitigation Techniques
163(26)
Ismail Guvenc
7.1 Introduction
163(2)
7.2 System Model
165(5)
7.2.1 Maximum-likelihood Algorithm for LOS Scenarios
166(1)
7.2.2 Cramer--Rao Lower Bounds for LOS Scenarios
167(3)
7.3 NLOS Scenarios: Fundamental Limits and Maximum-likelihood Solutions
170(5)
7.3.1 ML-based Algorithms
170(3)
7.3.2 Cramer--Rao Lower Bound
173(2)
7.4 Least-squares Techniques for NLOS Localization
175(3)
7.4.1 Weighted Least Squares
175(1)
7.4.2 Residual-weighting Algorithm
176(2)
7.5 Constraint-based Techniques for NLOS Localization
178(4)
7.5.7 Constrained LS Algorithm and Quadratic Programming
178(1)
7.5.2 Linear Programming
178(2)
7.5.3 Geometry-constrained Location Estimation
180(1)
7.5.4 Interior-point Optimization
181(1)
7.6 Robust Estimators for NLOS Localization
182(2)
7.6.1 Huber M-estimator
182(1)
7.6.2 Least Median Squares
183(1)
7.6.3 Other Robust Estimation Options
184(1)
7.7 Identify and Discard Techniques for NLOS Localization
184(4)
7.7.1 Residual Test Algorithm
184(4)
7.8 Conclusions
188(1)
8 Positioning Systems and Technologies
189(36)
Andreas Waadt
Guido Bruck
Peter Jung
8.1 Introduction
189(1)
8.2 Satellite Positioning
190(6)
8.2.1 Overview
190(1)
8.2.2 Basic Principles
191(3)
8.2.3 Satellite Positioning Systems
194(1)
8.2.4 Accuracy and Reliability
195(1)
8.2.5 Drawbacks When Applied to Mobile Positioning
195(1)
8.3 Cellular Positioning
196(17)
8.3.1 Overview
196(1)
8.3.2 GSM
197(9)
8.3.3 UMTS
206(2)
8.3.4 LTE
208(3)
8.3.5 Emergency Applications in Cellular Networks
211(2)
8.3.6 Drawbacks When Applied to Mobile Positioning
213(1)
8.4 Wireless Local/Personal Area Network Positioning
213(7)
8.4.1 Solutions on Top of Wireless Local Networks
213(4)
8.4.2 Dedicated Solutions
217(3)
8.5 Ad hoc Positioning
220(1)
8.6 Hybrid Positioning
220(3)
8.6.1 Heterogeneous Positioning
220(1)
8.6.2 Cellular and WLAN
221(1)
8.6.3 Assisted GPS
221(2)
8.7 Conclusions
223(2)
Acknowledgements
223(2)
9 Ultra-wideband Positioning and Tracking
225(36)
Davide Dardari
9.1 Introduction
225(1)
9.2 UWB Technology
226(4)
9.2.1 History and Definitions
226(1)
9.2.2 Theory
226(2)
9.2.3 Regulations
228(2)
9.3 The UWB Radio Channel
230(3)
9.3.1 Path Loss
231(1)
9.3.2 Multipart
231(1)
9.3.3 UWB Channel Models for Positioning
232(1)
9.4 UWB Standards
233(4)
9.4.1 IEEE 802.15.4a Standard
233(2)
9.4.2 IEEE 802.15.4f Standard
235(2)
9.4.3 Other Standards
237(1)
9.5 Time-of-arrival Measurements
237(6)
9.5.1 Two-way Ranging
237(1)
9.5.2 Time Difference of Arrival
238(1)
9.5.3 Fundamental Limits in TOA Estimation
238(2)
9.5.4 Main Issues in TOA Estimation
240(2)
9.5.5 Clock Drift
242(1)
9.6 Ranging Algoritms in Real Conditions
243(10)
9.6.1 ML TOA Estimation in the Presence of a Multipath
243(5)
9.6.2 Clock Drift Mitigation
248(2)
9.6.3 Localization and Tracking with UWB
250(3)
9.7 Passive UWB Localization
253(5)
9.7.1 UWB-RFID
253(5)
9.8 Conclusions and Perspectives
258(3)
Acknowledgments
260(1)
10 Indoor Positioning in WLAN
261(22)
Francescantonio Delia Rosa
Mauro Pelosi
Jari Nurmi
10.1 Introduction
261(1)
10.2 Potential and Limitations of WLAN
262(1)
10.3 Empirical Approaches
263(11)
10.3.1 Probe Requests and Beacon Frames
264(1)
10.3.2 Positioning Methods
265(7)
10.3.3 Evaluation Criteria for Indoor Positioning Systems Based on WLANs
272(2)
10.4 Error Sources in RSS Measurements
274(5)
10.4.1 Heterogeneous WiFi Cards
275(2)
10.4.2 Device Orientation
277(1)
10.4.3 Channel in the Presence of the User and Body Loss
278(1)
10.4.4 The Hand Grip
278(1)
10.5 Experimental Activities
279(2)
10.6 Conclusions
281(2)
11 Cooperative Multi-tag Localization in RFID Systems: Exploiting Multiplicity, Diversity and Polarization of Tags
283(32)
Tanveer Bhuiyan
Simone Frattasi
11.1 Introduction
283(2)
11.2 RFID Positioning Systems
285(1)
11.2.1 Single-tag Localization
285(1)
11.3 Cooperative Multi-tag Localization
286(28)
11.3.1 Multi-tagged Objects and Persons
286(4)
11.3.2 Localization of Mobile RFID Readers: CoopAOA
290(7)
11.3.3 Performance Evaluation
297(12)
11.3.4 Experimental Activity for Tag Localization
309(5)
11.4 Conclusions
314(1)
12 Cooperative Mobile Positioning
315(38)
Simone Frattasi
Joao Figueiras
Francescantonio Delia Rosa
12.1 Introduction
315(1)
12.2 Cooperative Localization
316(7)
12.2.1 Robot Networks
316(1)
72.2.2 Wireless Sensor Networks
317(4)
12.2.3 Wireless Mobile Networks
321(2)
12.3 Cooperative Data Fusion and Filtering Techniques
323(5)
12.3.1 Coop-WNLLS: Cooperative Weighted Nonlinear Least Squares
323(3)
12.3.2 Coop-EKF: Cooperative Extended Kalman Filter
326(2)
12.4 COMET: A Cooperative Mobile Positioning System
328(21)
12.4.1 System Architecture
328(2)
12.4.2 Data Fusion Methods
330(7)
12.4.3 Performance Evaluation
337(12)
12.5 Experimental Activity in a Cooperative WLAN Scenario
349(3)
12.5.1 Scenario
350(1)
12.5.2 Results
350(2)
12.6 Conclusions
352(1)
References 353(20)
Index 373
Simone Frattasi, PhD, is currently Head of the Patent Section of Sony Mobile Communications in Lund, Sweden. Previously, he worked as Technical Project Manager at Aalborg University, Denmark.

Francescantonio Della Rosa, MSc, works on hybrid data fusion and software development for GNSS receiver prototypes and mobile devices within the EU FP7 project, GRAMMAR (Galileo Ready Advanced Mass Market Receiver), at Tampere University of Technology, Finland.
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