Location-Aware Range-Error Correction for Improved UWB Localization.

In this paper, we present a novel localization scheme, location-aware ranging correction (LARC), to correct ranging estimates from ultra wideband (UWB) signals. Existing solutions to calculate ranging corrections rely solely on channel information features (e.g., signal energy, maximum amplitude, estimated range). We propose to incorporate a preliminary location estimate into a localization chain, such that location-based features can be calculated as inputs to a range-error prediction model. This way, we can add information to range-only measurements without relying on additional hardware such as an inertial measurement unit (IMU). This improves performance and reduces overfitting behavior. We demonstrate our LARC method using an open-access measurement dataset with distances up to 20 m, using a simple regression model that can run purely on the CPU in real-time. The inclusion of the proposed features for range-error mitigation decreases the ranging error 90th percentile (P90) by 58% to 15 cm (compared to the uncorrected range error), for an unseen trajectory. The 2D localization P90 error is improved by 21% to 18 cm. We show the robustness of our approach by comparing results to a changed environment, where metallic objects have been moved around the room. In this modified environment, we obtain a 56% better P90 ranging performance of 16 cm. The 2D localization P90 error improves as much as for the unchanged environment, by 17% to 18 cm, showing the robustness of our method. This method evolved from the first-ranking solution of the 2021 and 2022 International Conference on Indoor Position and Indoor Navigation (IPIN) Competition.

An Automated Wireless System for Monitoring Concrete Structures Based on Embedded Electrical Resistivity Sensors: Data Transmission and Effects on Concrete Properties.

Modern infrastructure heavily relies on robust concrete structures, underscoring the critical need for effective monitoring to ensure their safety and durability. This paper addresses this imperative issue by introducing an innovative automated and wireless system for continuous structural monitoring. By employing embedded electrical resistivity sensors coupled with a wireless-based data transmission mechanism, real-time data collection becomes feasible. We provide a general description of the system's architecture and its application in a pilot study covering the effects of the devices on concrete properties and data transmission. The dielectric properties of concrete specimens were investigated under natural and accelerated curing/degradation and the results were used in the final design of the antenna device. Furthermore, a pilot test comprising four reinforced concrete columns was used to investigate the range of data transmission from inside to outside of the concrete, the effects of the hardware device on the compressive strength and concrete distribution in the columns, and the data transmission quality in real time under realistic exposure conditions.

Robust IMU-Based Mitigation of Human Body Shadowing in UWB Indoor Positioning.

Ultra-wideband (UWB) indoor positioning systems have the potential to achieve sub-decimeter-level accuracy. However, the ranging performance degrades significantly under non-line-of-sight (NLoS) conditions. The detection and mitigation of NLoS conditions is a complex problem and has been the subject of many works over the past decades. When localizing pedestrians, human body shadowing (HBS) is a particular and specific cause of NLoS. In this paper, we present an HBS mitigation strategy based on the orientation of the body and tag relative to the UWB anchors. Our HBS mitigation strategy involves a robust range error model that interacts with a tracking algorithm. The model consists of a bank of Gaussian Mixture Models (GMMs), from which an appropriate GMM is selected based on the relative body-tag-anchor orientation. The relative orientation is estimated by means of an inertial measurement unit (IMU) attached to the tag and a candidate position provided by the tracking algorithm. The selected GMM is used as a likelihood function for the tracking algorithm to improve localization accuracy. Our proposed approach was realized for two tracking algorithms. We validated the implemented algorithms on dynamic UWB ranging measurements, which were performed in an industrial lab environment. The proposed algorithms outperform other state-of-the-art algorithms, achieving a 37% reduction of the p75 error.

Comparison of Low-Cost 5G Electromagnetic Field Sensors.

This paper compares different low-cost sensors that can measure (5G) RF-EMF exposure. The sensors are either commercially available (off-the-shelf Software Defined Radio (SDR) Adalm Pluto) or constructed by a research institution (i.e., imec-WAVES, Ghent University and Smart Sensor Systems research group (S³R), The Hague University of Applied Sciences). Both in-lab (GTEM cell) and in-situ measurements have been performed for this comparison. The in-lab measurements tested the linearity and sensitivity, which can then be used to calibrate the sensors. The in-situ testing confirmed that the low-cost hardware sensors and SDR can be used to assess the RF-EMF radiation. The variability between the sensors was 1.78 dB on average, with a maximum deviation of 5.26 dB. Values between 0.09 V/m and 2.44 V/m were obtained at a distance of about 50 m from the base station. These devices can be used to provide the general public and governments with temporal and spatial 5G electromagnetic field values.

Evaluating 60 GHz FWA Deployments for Urban and Rural Environments in Belgium.

Fixed wireless access (FWA) provides a solution to compete with fiber deployment while offering reduced costs by using the mmWave bands, including the unlicensed 60 GHz one. This paper evaluates the deployment of FWA networks in the 60 GHz band in realistic urban and rural environment in Belgium. We developed a network planning tool that includes novel backhaul based on the IEEE 802.11ay standard with multi-objective capabilities to maximise the user coverage, providing at least 1 Gbps of bit rate while minimising the required network infrastructure. We evaluate diverse serving node locations, called edge nodes (EN), and the impact of environmental factors such as rain and vegetation on the network design. Extensive simulation results show that defining a proper EN's location is essential to achieve viable user coverage higher than 95%, particularly in urban scenarios where street canyons affect propagation. Rural scenarios require nearly 75 ENs per km2 while urban scenarios require four times (300 ENs per km2) this infrastructure. Finally, vegetation can reduce the coverage by 3% or increment infrastructure up to 7%, while heavy rain can reduce coverage by 5% or increment infrastructure by 15%, depending on the node deployment strategy implemented.

A Novel and Adaptive Angle Diversity-Based Receiver for 6G Underground Mining VLC Systems.

Visible light communication (VLC) is considered an enabling technology for future 6G wireless systems. Among the many applications in which VLC systems are used, one of them is harsh environments such as Underground Mining (UM) tunnels. However, these environments are subject to degrading environmental and intrinsic challenges for optical links. Therefore, current research should focus on solutions to mitigate these problems and improve the performance of Underground Mining Visible Light Communication (UM-VLC) systems. In this context, this article presents a novel solution that involves an improvement to the Angle Diversity Receivers (ADRs) based on the adaptive orientation of the Photo-Diodes (PDs) in terms of the Received Signal Strength Ratio (RSSR) scheme. Specifically, this methodology is implemented in a hemidodecahedral ADR and evaluated in a simulated UM-VLC scenario. The performance of the proposed design is evaluated using metrics such as received power, user data rate, and bit error rate (BER). Furthermore, our approach is compared with state-of-the-art ADRs implemented with fixed PDs and with the Time of Arrival (ToA) reception method. An improvement of at least 60% in terms of the analyzed metrics compared to state-of-the-art solutions is obtained. Therefore, the numerical results demonstrate that the hemidodecahedral ADR, with adaptive orientation PDs, enhances the received optical signal. Furthermore, the proposed scheme improves the performance of the UM-VLC system due to its optimum adaptive angular positioning, which is completed according to the strongest optical received signal power. By improving the performance of the UM-VLC system, this novel method contributes to further consideration of VLC systems as potential and enabling technologies for future 6G deployments.

IN-SITU 5G NR BASE STATION EXPOSURE OF THE GENERAL PUBLIC: COMPARISON OF ASSESSMENT METHODS.

New measurement methods and equipment for correct 5G New Radio (NR) electromagnetic field (EMF) in-situ exposure assessment of instantaneous time-averaged exposure (Eavg) and maximum extrapolated field exposure (Emax) are proposed. The different options are investigated with in-situ measurements around 5G NR base stations (FR1) in different countries. The maximum electric field values satisfy the ICNIRP 2020 limit (maximum 7.7%). The difference between Emax and Eavg is <3 dB for the different measurement equipment at multiple sites in case there is only self-generated traffic. However, in a more realistic scenario, Eavg cannot be used to assess the exposure correctly due to influence of other users as the spatial distribution of user equipment (UE) influences Eavg, while Emax is not affected. However, when multiple UEs are collocated, there is no influence of the number of UEs. A broadband measurement can give a first impression of the RF-EMF exposure up to 700 m, but is not enough to assess the 5G-NR exposure.

Horse Jumping and Dressage Training Activity Detection Using Accelerometer Data.

Equine training activity detection will help to track and enhance the performance and fitness level of riders and their horses. Currently, the equestrian world is eager for a simple solution that goes beyond detecting basic gaits, yet current technologies fall short on the level of user friendliness and detection of main horse training activities. To this end, we collected leg accelerometer data of 14 well-trained horses during jumping and dressage trainings. For the first time, 6 jumping training and 25 advanced horse dressage activities are classified using specifically developed models based on a neural network. A jumping training could be classified with a high accuracy of 100 %, while a dressage training could be classified with an accuracy of 96.29%. Assigning the dressage movements to 11, 6 or 4 superclasses results in higher accuracies of 98.87%, 99.10% and 100%, respectively. Furthermore, during dressage training, the side of movement could be identified with an accuracy of 97.08%. In addition, a velocity estimation model was developed based on the measured velocities of seven horses performing the collected, working, and extended gaits during a dressage training. For the walk, trot, and canter paces, the velocities could be estimated accurately with a low root mean square error of 0.07 m/s, 0.14 m/s, and 0.42 m/s, respectively.

Multi-Floor Indoor Pedestrian Dead Reckoning with a Backtracking Particle Filter and Viterbi-Based Floor Number Detection.

We present a smartphone-based indoor localisation system, able to track pedestrians over multiple floors. The system uses Pedestrian Dead Reckoning (PDR), which exploits data from the smartphone's inertial measurement unit to estimate the trajectory. The PDR output is matched to a scaled floor plan and fused with model-based WiFi received signal strength fingerprinting by a Backtracking Particle Filter (BPF). We proposed a new Viterbi-based floor detection algorithm, which fuses data from the smartphone's accelerometer, barometer and WiFi RSS measurements to detect stairs and elevator usage and to estimate the correct floor number. We also proposed a clustering algorithm on top of the BPF to solve multimodality, a known problem with particle filters. The proposed system relies on only a few pre-existing access points, whereas most systems assume or require the presence of a dedicated localisation infrastructure. In most public buildings and offices, access points are often available at smaller densities than used for localisation. Our system was extensively tested in a real office environment with seven 41 m × 27 m floors, each of which had two WiFi access points. Our system was evaluated in real-time and batch mode, since the system was able to correct past states. The clustering algorithm reduced the median position error by 17% in real-time and 13% in batch mode, while the floor detection algorithm achieved a 99.1% and 99.7% floor number accuracy in real-time and batch mode, respectively.

Use of Machine Learning for the Estimation of Down- and Up-Link Field Exposure in Multi-Source Indoor WiFi Scenarios.

A novel Machine Learning (ML) method based on Neural Networks (NN) is proposed to assess radio-frequency (RF) exposure generated by WiFi sources in indoor scenarios. The aim was to build an NN capable of addressing the complexity and variability of real-life exposure setups, including the effects of not only down-link transmission access points (APs) but also up-link transmission by different sources (e.g. laptop, printers, tablets, and smartphones). The NN was fed with easy to be found data, such as the position and type of WiFi sources (APs, clients, and other users) and the position and material characteristics (e.g. penetration loss) of walls. The NN model was assessed using an additional new layout, distinct from that one used to build and optimize the NN coefficients. The NN model achieved a remarkable field prediction accuracy across exposure conditions in both layouts, with a median prediction error of -0.4 to 0.6 dB and a root mean square error of 2.5-5.1 dB, compared with the target electric field estimated by a deterministic indoor network planner. The proposed approach performs well for the different layouts and is thus generally used to assess RF exposure in indoor scenarios. © 2021 The Authors. Bioelectromagnetics published by Wiley Periodicals LLC on behalf of Bioelectromagnetics Society.

LoRaWAN Geo-Tracking using Map Matching and Compass Sensor Fusion.

In contrast to accurate GPS-based localization, approaches to localize within LoRaWAN networks offer the advantages of being low power and low cost. This targets a very different set of use cases and applications on the market where accuracy is not the main considered metric. The localization is performed by the Time Difference of Arrival (TDoA) method and provides discrete position estimates on a map. An accurate "tracking-on-demand" mode for retrieving lost and stolen assets is important. To enable this mode, we propose deploying an e-compass in the mobile LoRa node, which frequently communicates directional information via the payload of the LoRaWAN uplink messages. Fusing this additional information with raw TDoA estimates in a map matching algorithm enables us to estimate the node location with a much increased accuracy. It is shown that this sensor fusion technique outperforms raw TDoA at the cost of only embedding a low-cost e-compass. For driving, cycling, and walking trajectories, we obtained minimal improvements of 65, 76, and 82% on the median errors which were reduced from 206 to 68 m, 197 to 47 m, and 175 to 31 m, respectively. The energy impact of adding an e-compass is limited: energy consumption increases by only 10% compared to traditional LoRa localization, resulting in a solution that is still 14 times more energy-efficient than a GPS-over-LoRa solution.

A Comprehensive Study on Light Signals of Opportunity for Subdecimetre Unmodulated Visible Light Positioning.

Currently, visible light positioning (VLP) enabling an illumination infrastructure requires a costly retrofit. Intensity modulation systems not only necessitate changes to the internal LED driving module, but decrease the LEDs' radiant flux as well. This hinders the infrastructure's ability to meet the maintained illuminance standards. Ideally, the LEDs could be left unmodulated, i.e., unmodulated VLP (uVLP). uVLP systems, inherently low-cost, exploit the characteristics of the light signals of opportunity (LSOOP) to infer a position. In this paper, it is shown that proper signal processing allows using the LED's characteristic frequency (CF) as a discriminative feature in photodiode (PD)-based received signal strength (RSS) uVLP. This manuscript investigates and compares the aptitude of (future) RSS-based uVLP and VLP systems in terms of their feasibility, cost and accuracy. It demonstrates that CF-based uVLP exhibits an acceptable loss of accuracy compared to (regular) VLP. For point source-like LEDs, uVLP only worsens the trilateration-based median p50 and 90th percentile root-mean-square error p90 from 5.3cm to 7.9cm (+50%) and from 9.6cm to 15.6cm (+62%), in the 4m × 4m room under consideration. A large experimental validation shows that employing a robust model-based fingerprinting localisation procedure, instead of trilateration, further boosts uVLP's p50 and p90 accuracy to 5.0cm and 10.6cm. When collating with VLP's p50=3.5cm and p90=6.8cm, uVLP exhibits a comparable positioning performance at a significantly lower cost and at a higher maintained illuminance, all of which underline uVLP's high adoption potential. With this work, a significant step is taken towards the development of an accurate and low-cost tracking system.

Badminton Activity Recognition Using Accelerometer Data.

A thorough analysis of sports is becoming increasingly important during the training process of badminton players at both the recreational and professional level. Nowadays, game situations are usually filmed and reviewed afterwards in order to analyze the game situation, but these video set-ups tend to be difficult to analyze, expensive, and intrusive to set up. In contrast, we classified badminton movements using off-the-shelf accelerometer and gyroscope data. To this end, we organized a data capturing campaign and designed a novel neural network using different frame sizes as input. This paper shows that with only accelerometer data, our novel convolutional neural network is able to distinguish nine activities with 86% precision when using a sampling frequency of 50 Hz. Adding the gyroscope data causes an increase of up to 99% precision, as compared to, respectively, 79% and 88% when using a traditional convolutional neural network. In addition, our paper analyses the impact of different sensor placement options and discusses the impact of different sampling frequenciess of the sensors. As such, our approach provides a low cost solution that is easy to use and can collect useful information for the analysis of a badminton game.

Passive Visible Light Detection Of Humans.

This paper experimentally investigates passive human visible light sensing (VLS). A passive VLS system is tested consisting of one light emitting diode (LED) and one photodiode-based receiver, both ceiling-mounted. There is no line of sight between the LED and the receiver, so only reflected light can be considered. The influence of a human is investigated based on the received signal strength (RSS) values of the reflections of ambient light at the photodiode. Depending on the situation, this influence can reach up to ± 50 % . The experimental results show the influence of three various clothing colors, four different walking directions and four different layouts. Based on the obtained results, a human pass-by detection system is proposed and tested. The system achieves a detection rate of 100% in a controlled environment for 21 experiments. For a realistic corridor experiment, the system keeps its detection rate of 100% for 19 experiments.

An Unsupervised Learning Technique to Optimize Radio Maps for Indoor Localization.

A major burden of signal strength-based fingerprinting for indoor positioning is the generation and maintenance of a radio map, also known as a fingerprint database. Model-based radio maps are generated much faster than measurement-based radio maps but are generally not accurate enough. This work proposes a method to automatically construct and optimize a model-based radio map. The method is based on unsupervised learning, where random walks, for which the ground truth locations are unknown, serve as input for the optimization, along with a floor plan and a location tracking algorithm. No measurement campaign or site survey, which are labor-intensive and time-consuming, or inertial sensor measurements, which are often not available and consume additional power, are needed for this approach. Experiments in a large office building, covering over 1100 m², resulted in median accuracies of up to 2.07 m, or a relative improvement of 28.6% with only 15 min of unlabeled training data.

On the use of on-cow accelerometers for the classification of behaviours in dairy barns.

Analysing behaviours can provide insight into the health and overall well-being of dairy cows. Automatic monitoring systems using e.g., accelerometers are becoming increasingly important to accurately quantify cows' behaviours as the herd size increases. The aim of this study is to automatically classify cows' behaviours by comparing leg- and neck-mounted accelerometers, and to study the effect of the sampling rate and the number of accelerometer axes logged on the classification performances. Lying, standing, and feeding behaviours of 16 different lactating dairy cows were logged for 6h with 3D-accelerometers. The behaviours were simultaneously recorded using visual observation and video recordings as a reference. Different features were extracted from the raw data and machine learning algorithms were used for the classification. The classification models using combined data of the neck- and the leg-mounted accelerometers have classified the three behaviours with high precision (80-99%) and sensitivity (87-99%). For the leg-mounted accelerometer, lying behaviour was classified with high precision (99%) and sensitivity (98%). Feeding was classified more accurately by the neck-mounted versus the leg-mounted accelerometer (precision 92% versus 80%; sensitivity 97% versus 88%). Standing was the most difficult behaviour to classify when only one accelerometer was used. In addition, the classification performances were not highly influenced when only X, X and Z, or Z and Y axes were used for the classification instead of three axes, especially for the neck-mounted accelerometer. Moreover, the accuracy of the models decreased with about 20% when the sampling rate was decreased from 1Hz to 0.05Hz.

An extension of the RiMAX multipath estimation algorithm for ultra-wideband channel modeling.

This work presents an extension of the high-resolution RiMAX multipath estimation algorithm, enabling the analysis of frequency-dependent propagation parameters for ultra-wideband (UWB) channel modeling. Since RiMAX is a narrowband algorithm, it does not account for the frequency-dependency of the radio channel or the environment. As such, the impact of certain materials in which these systems operate can no longer be considered constant with respect to frequency, preventing an accurate estimation of multipath parameters for UWB communication. In order to track both the specular and dense multipath components (SMC and DMC) over frequency, an extension to the RiMAX algorithm was developed that can process UWB measurement data. The advantage of our approach is that geometrical propagation parameters do not appear or disappear from one sub-band onto the next. The UWB-RiMAX algorithm makes it possible to re-evaluate common radio channel parameters for DMC in the wideband scenario, and to extend the well-known deterministic propagation model comprising of SMC alone, towards a more hybrid model containing the stochastic contributions from the DMC's distributed diffuse scattering as well. Our algorithm was tested with synthetic radio channel models in an indoor environment, which show that our algorithm can match up to 99% of the SMC parameters according to the multipath component distance (MCD) metric and that the DMC reverberation time known from the theory of room electromagnetics can be estimated on average with an error margin of less than 2 ns throughout the UWB frequency band. We also present some preliminary results in an indoor environment, which indicate a strong presence of DMC and thus diffuse scattering. The DMC power represents up to 50% of the total measured power for the lower UWB frequencies and reduces to around 30% for the higher UWB frequencies.

Experimental Optimization of Exposure Index and Quality of Service in Wlan Networks.

This paper presents the first real-life optimization of the Exposure Index (EI). A genetic optimization algorithm is developed and applied to three real-life Wireless Local Area Network scenarios in an experimental testbed. The optimization accounts for downlink, uplink and uplink of other users, for realistic duty cycles, and ensures a sufficient Quality of Service to all users. EI reductions up to 97.5% compared to a reference configuration can be achieved in a downlink-only scenario, in combination with an improved Quality of Service. Due to the dominance of uplink exposure and the lack of WiFi power control, no optimizations are possible in scenarios that also consider uplink traffic. However, future deployments that do implement WiFi power control can be successfully optimized, with EI reductions up to 86% compared to a reference configuration and an EI that is 278 times lower than optimized configurations under the absence of power control.

Exposure assessment of microwave ovens and impact on total exposure in WLANs.

In situ exposure of electric fields of 11 microwave ovens is assessed in an occupational environment and in an office. Measurements as a function of distance without load and with a load of 275 ml of tap water were performed at distances of <1 m. The maximal measured field was 55.2 V m(-1) at 5 cm from the oven (without load), which is 2.5 and 1.1 times below the International Commission on Non-Ionizing Radiation Protection reference level for occupational exposure and general public exposure, respectively. For exposure at distances of >1 m, a model of the electric field in a realistic environment is proposed. In an office scenario, switching on a microwave oven increases the median field strength from 91 to 145 mV m(-1) (+91 %) in a traditional Wireless Local Area Network (WLAN) deployment and from 44 to 92 mV m(-1) (+109 %) in an exposure-optimised WLAN deployment.

Assessment of contribution of other users to own total whole-body RF absorption in train environment.

For the first time, the contribution of radio-frequent radiation originating from other people's devices to total own whole-body absorption is assessed in a simulation study. Absorption in a train environment due to base station's downlink is compared with absorption due to uplink (UL) of the user's own mobile device and absorption due to the UL of 0, 1, 5, or 15 other nearby active users. In a Global System for Mobile Communications (GSM) macro cell connection scenario, UL of 15 other users can cause up to 19% of total absorption when calling yourself and up to 100% when not calling yourself. In a Universal Mobile Telecommunications System (UMTS) femtocell connection scenario, UL of 15 other users contributes to total absorption of a non-calling user for no more than 1.5%. For five other users in the train besides the considered person, median total whole-body Specific Absorption Rate is reduced by a factor of about 400000 when deploying a UMTS femtocell base station instead of relying on the GSM macrocell.