ABSTRACT In this paper, a genetic algorithm is used to optimize the input and output fuzzy sets o... more ABSTRACT In this paper, a genetic algorithm is used to optimize the input and output fuzzy sets of a proportional-plus-derivative fuzzy logic controller (PDFLC). The center points of these sets are organized into "chromosomes," and then bred and mutated in a genetic algorithm to produce a population of offspring. The offspring are then put through a fitness algorithm to determine which of them survive to breed the next generation. This iterative process results in a solution optimized toward the definition of a "fit" design. This design method is illustrated with a numerical example.
ABSTRACT The objective of this paper is to develop the theory for integrating magnetometer measur... more ABSTRACT The objective of this paper is to develop the theory for integrating magnetometer measurements with an existing inertial navigation system (INS) aided by an acoustic wireless sensor network. The system without magnetometer measurements provides position information reliably. However, in the absence of dynamic motion the orientation errors are not observable using the sensor network, which only provides position information. The magnetometer provides consistent observability of the orientation. The measurement model needed to estimate the orientation errors using the magnetometer is derived in this paper. This measurement model is integrated with measurements from the acoustic sensor network into a complimentary Kalman filter that is used to estimate the error states of an INS.
This paper develops a non-precision geolocation algorithm for airborne vehicles that can serve as... more This paper develops a non-precision geolocation algorithm for airborne vehicles that can serve as a redundant navigation system for use during locally limited GNSS availability, can be used to validate on-board satellite navigation systems to detect local spoofing attempts, and can be used to validate Automatic Dependent Surveillance - Broadcast (ADS-B) position reports. The algorithm utilizes the proliferation of ADS-B equipped aircraft as airborne navigation aids in an RF angle of-arrival (AOA) and angle-of-elevation (AOE) based geodetic positioning algorithm. With multiple GNSS quality navigation aids available, mean horizontal position errors are observed to be less than 500 meters and the mean vertical position error is less than 10 meters. However, as expected, the quality of the navigation aids has an effect on the accuracy of the algorithm. As the quality and number of navigation aids decrease, so too does the accuracy of the algorithm. However, even under a worst-case scenario, the algorithm provides reasonable estimates that can provide a lateral position estimate within 3.7NM and an altitude estimate within 497 meters (95% containment). Perhaps more significantly, the improved algorithm is also capable of validating reported ADS-B altitude of equipped aircraft and is a perfect candidate for coupling with an INS or simply adding a barometric altimeter measurement to aid the vertical position estimate. This work presents a non-precision means of determining an airborne vehicle's geodetic position, even in the absence of GNSS. In addition, this algorithm can be used to validate GNSS position reports in a GNSS spoofed environment and can serve as a means to validate ADS-B position reports from suitably equipped aircraft operating in proximity to the host vehicle.
ABSTRACT Indoor localization with sensing capabilities is the missing link for a Geospatial Infor... more ABSTRACT Indoor localization with sensing capabilities is the missing link for a Geospatial Information System and sensor web. The sensor network is capable of environmental monitoring and geo-tagging sensor data. This paper presents a unique algorithm which uses fusion of Radio Signal Strength Indicator and Time Difference of Arrival for centimeter level accurate indoor localization using wireless sensor network motes. The paper also proposes the integration of various environmental sensors with wireless sensor network. The acquired sensor data can be geo-tagged with the translated global coordinates and additional sensory metadata. With the use of semantic sensor web, this sensor information can be utilized in various decision making scenarios for critical situations. The main goal of the paper is to use indoor localization assisted by sensor fusion and semantic web for first responders in emergency scenarios.
Proceedings of the 23rd International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS 2010), Sep 24, 2010
... Related research. Bias and Speed of Sound Estimation in a Tightly Coupled Wireless Acoustic S... more ... Related research. Bias and Speed of Sound Estimation in a Tightly Coupled Wireless Acoustic Sensor Network Aided Inertial Navigation System. Nicholas Baine, Pratikkumar Desai, Kuldip S Rattan in International Technical Meeting of The Institute of Navigation (2011). ...
This paper introduces a new test statistic that can detect systematic errors in vision systems. T... more This paper introduces a new test statistic that can detect systematic errors in vision systems. This can be used for integrity monitoring of vision navigation systems. Current integrity monitoring methods look for agreement among the measurements from a camera. This method looks for agreement between separate cameras. If the measurements do not agree then a parameter of one of the
ABSTRACT This paper proposes an algorithm that fuses Time Difference of Arrival (TDoA) and Receiv... more ABSTRACT This paper proposes an algorithm that fuses Time Difference of Arrival (TDoA) and Received Signal Strength Indication (RSSI) measurements. The fusion is performed in a centralized scheme, which uses mesh topology for the propagation of RSSI measurements. The wireless acoustic sensor network is equipped with RF transceivers that can measure signal strength. Adding RSSI measurements to the localization algorithm has no effect on the hardware complexity. Through the use of training,RSSI measurements are transformed into distances. The algorithm is then able to use RSSI measurements in place of any missing TDoA measurement. The algorithm is tested by experimental setup. The experiment shows that the proposed algorithm increases performance of distance estimation and localization compared to techniques, which relies solely on RSSI or TDoA measurements.
ABSTRACT In this paper, a genetic algorithm is used to optimize the input and output fuzzy sets o... more ABSTRACT In this paper, a genetic algorithm is used to optimize the input and output fuzzy sets of a proportional-plus-derivative fuzzy logic controller (PDFLC). The center points of these sets are organized into "chromosomes," and then bred and mutated in a genetic algorithm to produce a population of offspring. The offspring are then put through a fitness algorithm to determine which of them survive to breed the next generation. This iterative process results in a solution optimized toward the definition of a "fit" design. This design method is illustrated with a numerical example.
ABSTRACT The objective of this paper is to develop the theory for integrating magnetometer measur... more ABSTRACT The objective of this paper is to develop the theory for integrating magnetometer measurements with an existing inertial navigation system (INS) aided by an acoustic wireless sensor network. The system without magnetometer measurements provides position information reliably. However, in the absence of dynamic motion the orientation errors are not observable using the sensor network, which only provides position information. The magnetometer provides consistent observability of the orientation. The measurement model needed to estimate the orientation errors using the magnetometer is derived in this paper. This measurement model is integrated with measurements from the acoustic sensor network into a complimentary Kalman filter that is used to estimate the error states of an INS.
This paper develops a non-precision geolocation algorithm for airborne vehicles that can serve as... more This paper develops a non-precision geolocation algorithm for airborne vehicles that can serve as a redundant navigation system for use during locally limited GNSS availability, can be used to validate on-board satellite navigation systems to detect local spoofing attempts, and can be used to validate Automatic Dependent Surveillance - Broadcast (ADS-B) position reports. The algorithm utilizes the proliferation of ADS-B equipped aircraft as airborne navigation aids in an RF angle of-arrival (AOA) and angle-of-elevation (AOE) based geodetic positioning algorithm. With multiple GNSS quality navigation aids available, mean horizontal position errors are observed to be less than 500 meters and the mean vertical position error is less than 10 meters. However, as expected, the quality of the navigation aids has an effect on the accuracy of the algorithm. As the quality and number of navigation aids decrease, so too does the accuracy of the algorithm. However, even under a worst-case scenario, the algorithm provides reasonable estimates that can provide a lateral position estimate within 3.7NM and an altitude estimate within 497 meters (95% containment). Perhaps more significantly, the improved algorithm is also capable of validating reported ADS-B altitude of equipped aircraft and is a perfect candidate for coupling with an INS or simply adding a barometric altimeter measurement to aid the vertical position estimate. This work presents a non-precision means of determining an airborne vehicle's geodetic position, even in the absence of GNSS. In addition, this algorithm can be used to validate GNSS position reports in a GNSS spoofed environment and can serve as a means to validate ADS-B position reports from suitably equipped aircraft operating in proximity to the host vehicle.
ABSTRACT Indoor localization with sensing capabilities is the missing link for a Geospatial Infor... more ABSTRACT Indoor localization with sensing capabilities is the missing link for a Geospatial Information System and sensor web. The sensor network is capable of environmental monitoring and geo-tagging sensor data. This paper presents a unique algorithm which uses fusion of Radio Signal Strength Indicator and Time Difference of Arrival for centimeter level accurate indoor localization using wireless sensor network motes. The paper also proposes the integration of various environmental sensors with wireless sensor network. The acquired sensor data can be geo-tagged with the translated global coordinates and additional sensory metadata. With the use of semantic sensor web, this sensor information can be utilized in various decision making scenarios for critical situations. The main goal of the paper is to use indoor localization assisted by sensor fusion and semantic web for first responders in emergency scenarios.
Proceedings of the 23rd International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS 2010), Sep 24, 2010
... Related research. Bias and Speed of Sound Estimation in a Tightly Coupled Wireless Acoustic S... more ... Related research. Bias and Speed of Sound Estimation in a Tightly Coupled Wireless Acoustic Sensor Network Aided Inertial Navigation System. Nicholas Baine, Pratikkumar Desai, Kuldip S Rattan in International Technical Meeting of The Institute of Navigation (2011). ...
This paper introduces a new test statistic that can detect systematic errors in vision systems. T... more This paper introduces a new test statistic that can detect systematic errors in vision systems. This can be used for integrity monitoring of vision navigation systems. Current integrity monitoring methods look for agreement among the measurements from a camera. This method looks for agreement between separate cameras. If the measurements do not agree then a parameter of one of the
ABSTRACT This paper proposes an algorithm that fuses Time Difference of Arrival (TDoA) and Receiv... more ABSTRACT This paper proposes an algorithm that fuses Time Difference of Arrival (TDoA) and Received Signal Strength Indication (RSSI) measurements. The fusion is performed in a centralized scheme, which uses mesh topology for the propagation of RSSI measurements. The wireless acoustic sensor network is equipped with RF transceivers that can measure signal strength. Adding RSSI measurements to the localization algorithm has no effect on the hardware complexity. Through the use of training,RSSI measurements are transformed into distances. The algorithm is then able to use RSSI measurements in place of any missing TDoA measurement. The algorithm is tested by experimental setup. The experiment shows that the proposed algorithm increases performance of distance estimation and localization compared to techniques, which relies solely on RSSI or TDoA measurements.
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Papers by Nicholas Baine