In this paper, a multi-modal data based semi-supervised learning (SSL) framework that jointly use channel state information (CSI) data and RGB images for vehicle positioning is designed. In particular, an outdoor positioning system where the vehicle locations are determined by a base station (BS) is considered. The BS equipped with several cameras can collect a large amount of unlabeled CSI data and a small number of labeled CSI data of vehicles, and the images taken by cameras. Although the collected images contain partial information of vehicles (i.e. azimuth angles of vehicles), the relationship between the unlabeled CSI data and its azimuth angle, and the distances between the BS and the vehicles captured by images are both unknown. Therefore, the images cannot be directly used as the labels of unlabeled CSI data to train a positioning model. To exploit unlabeled CSI data and images, a SSL framework that consists of a pretraining stage and a downstream training stage is proposed. In the pretraining stage, the azimuth angles obtained from the images are considered as the labels of unlabeled CSI data to pretrain the positioning model. In the downstream training stage, a small sized labeled dataset in which the accurate vehicle positions are considered as labels is used to retrain the model. Simulation results show that the proposed method can reduce the positioning error by up to 30% compared to a baseline where the model is not pretrained.
In urban environments, where line-of-sight signals from GNSS satellites are frequently blocked by high-rise objects, GNSS receivers are subject to large errors in measuring satellite ranges. Heuristic methods are commonly used to estimate these errors and reduce the impact of noisy measurements on localization accuracy. In our work, we replace these error estimation heuristics with a deep learning model based on Graph Neural Networks. Additionally, by analyzing the cost function of the multilateration process, we derive an optimal method to utilize the estimated errors. Our approach guarantees that the multilateration converges to the receiver's location as the error estimation accuracy increases. We evaluate our solution on a real-world dataset containing more than 100k GNSS epochs, collected from multiple cities with diverse characteristics. The empirical results show improvements from 40% to 80% in the horizontal localization error against recent deep learning baselines as well as classical localization approaches.
Ultrawideband (UWB) technology has attracted a lot of attention for indoor and outdoor positioning systems due to its high accuracy and robustness in non-line-of-sight (NLOS) environments. However, UWB signals are affected by multipath propagation which causes errors in localization. To overcome this problem, researchers have proposed various techniques for NLOS identification and mitigation. One of the approaches is statistical LOS/NLOS classification, which uses statistical parameters of the received signal to distinguish between LOS and NLOS channels. In this paper, we formulated several techniques which can be used for effectively classifying a Line of Sight (LOS) channel from a Non-Line of Sight (NLOS) channel. Various parameters obtained from Channel Impulse Response (CIR) like Skewness, Kurtosis, Root Mean Squared Delay Spread (RDS), Mean Excess Delay (MED), Energy, Energy Ratio, and Mean of Covariance Matrix are used for channel classification. In addition to this, the Joint Probability Density Functions (PDFs) of various parameters are used to improve the accuracy of UWB LOS/NLOS channel classification. Two different criteria-Likelihood Ratio and Hypothesis Tests are used for the identification of the channel.
In regions where global navigation satellite systems (GNSS) signals are unavailable, such as underground areas and tunnels, GNSS simulators can be deployed for transmitting simulated GNSS signals. Then, a GNSS receiver in the simulator coverage outputs the position based on the received GNSS signals (e.g., Global Positioning System (GPS) L1 signals in this study) transmitted by the corresponding simulator. This approach provides periodic position updates to GNSS users while deploying a small number of simulators without modifying the hardware and software of user receivers. However, the simulator clock should be synchronized to the GNSS satellite clock to generate almost identical signals to the live-sky GNSS signals, which is necessary for seamless indoor and outdoor positioning handover. The conventional clock synchronization method based on the wired connection between each simulator and an outdoor GNSS antenna causes practical difficulty and increases the cost of deploying the simulators. This study proposes a wireless clock synchronization method based on a private time server and time delay calibration. Additionally, we derived the constraints for determining the optimal simulator coverage and separation between adjacent simulators. The positioning performance of the proposed GPS simulator-based indoor positioning system was demonstrated in the underground testbed for a driving vehicle with a GPS receiver and a pedestrian with a smartphone. The average position errors were 3.7 m for the vehicle and 9.6 m for the pedestrian during the field tests with successful indoor and outdoor positioning handovers. Since those errors are within the coverage of each deployed simulator, it is confirmed that the proposed system with wireless clock synchronization can effectively provide periodic position updates to users where live-sky GNSS signals are unavailable.
Positioning problem can be solved with several approaches in 5G. This paper introduces RT (Ray Tracing) technique for small-cell Outdoor positioning and tracking for systems with distributed architecture with multipath processing gain. Proposed approach exploits high-resolution angular spectrum estimation and known radio propagation environment. It solves positioning problem robustly even in NLOS cases via CoMP (Cooperative Multi Point) reception and joint processing at cloud CPU. The aim of this paper is to disclose proposed algorithm for NR and compare it to GNSS measurements.
Localization services for wireless devices play an increasingly important role in our daily lives and a plethora of emerging services and applications already rely on precise position information. Widely used on-device positioning methods, such as the global positioning system, enable accurate outdoor positioning and provide the users with full control over what services and applications are allowed to access their location information. In order to provide accurate positioning indoors or in cluttered urban scenarios without line-of-sight satellite connectivity, powerful off-device positioning systems, which process channel state information (CSI) measured at the infrastructure base stations or access points with deep neural networks, have emerged recently. Such off-device wireless positioning systems inherently link a user's data transmission with its localization, since accurate CSI measurements are necessary for reliable wireless communication -- this not only prevents the users from controlling who can access this information but also enables virtually everyone in the device's range to estimate its location, resulting in serious privacy and security concerns. We therefore propose on-device attacks against off-device wireless positioning systems in multi-antenna orthogonal frequency-division multiplexing systems while remaining standard compliant and minimizing the impact on quality-of-service, and we demonstrate their efficacy using real-world measured datasets for cellular outdoor and wireless LAN indoor scenarios. We also investigate defenses to counter such attack mechanisms, and we discuss the limitations and implications on protecting location privacy in existing and future wireless communication systems.
Outdoor positioning systems based on the Global Navigation Satellite System have several shortcomings that have deemed their use for indoor positioning impractical. Location fingerprinting, which utilizes machine learning, has emerged as a viable method and solution for indoor positioning due to its simple concept and accurate performance. In the past, shallow learning algorithms were traditionally used in location fingerprinting. Recently, the research community started utilizing deep learning methods for fingerprinting after witnessing the great success and superiority these methods have over traditional/shallow machine learning algorithms. This paper provides a comprehensive review of deep learning methods in indoor positioning. First, the advantages and disadvantages of various fingerprint types for indoor positioning are discussed. The solutions proposed in the literature are then analyzed, categorized, and compared against various performance evaluation metrics. Since data is key in fingerprinting, a detailed review of publicly available indoor positioning datasets is presented. While incorporating deep learning into fingerprinting has resulted in significant improvements, doing so, has also introduced new challenges. These challenges along with the common implementation pitfalls are discussed. Finally, the paper is concluded with some remarks as well as future research trends.
Channel state information (CSI)-based fingerprinting via neural networks (NNs) is a promising approach to enable accurate indoor and outdoor positioning of user equipments (UEs), even under challenging propagation conditions. In this paper, we propose a positioning pipeline for wireless LAN MIMO-OFDM systems which uses uplink CSI measurements obtained from one or more unsynchronized access points (APs). For each AP receiver, novel features are first extracted from the CSI that are robust to system impairments arising in real-world transceivers. These features are the inputs to a NN that extracts a probability map indicating the likelihood of a UE being at a given grid point. The NN output is then fused across multiple APs to provide a final position estimate. We provide experimental results with real-world indoor measurements under line-of-sight (LoS) and non-LoS propagation conditions for an 80MHz bandwidth IEEE 802.11ac system using a two-antenna transmit UE and two AP receivers each with four antennas. Our approach is shown to achieve centimeter-level median distance error, an order of magnitude improvement over a conventional baseline.
In the era of Industry 4.0, cognitive computing and its enabling technologies (Artificial Intelligence, Machine Learning, etc.) allow to define systems able to support maintenance by providing relevant information, at the right time, retrieved from structured companies' databases, and unstructured documents, like technical manuals, intervention reports, and so on. Moreover, contextual information plays a crucial role in tailoring the support both during the planning and the execution of interventions. Contextual information can be detected with the help of sensors, wearable devices, indoor and outdoor positioning systems, and object recognition capabilities (using fixed or wearable cameras), all of which can collect historical data for further analysis. In this work, we propose a cognitive system that learns from past interventions to generate contextual recommendations for improving maintenance practices in terms of time, budget, and scope. The system uses formal conceptual models, incremental learning, and ranking algorithms to accomplish these objectives.
With millimeter wave wireless communications, the resulting radiation reflects on most visible objects, creating rich multipath environments, namely in urban scenarios. The radiation captured by a listening device is thus shaped by the obstacles encountered, which carry latent information regarding their relative positions. In this paper, a system to convert the received millimeter wave radiation into the device's position is proposed, making use of the aforementioned hidden information. Using deep learning techniques and a pre-established codebook of beamforming patterns transmitted by a base station, the simulations show that average estimation errors below 10 meters are achievable in realistic outdoors scenarios that contain mostly non-line-of-sight positions, paving the way for new positioning systems.