Search Results (126)

This study develops a high-accuracy indoor positioning system using ultra-wideband (UWB) technology and the time-of-arrival (TOA) method. The system is built using Arduino Nano microcontrollers and DW1000 UWB chips to measure distances between anchor nodes and a mobile tag. Three positioning algorithms are tested: the triangle centroid algorithm (TCA), inner triangle centroid algorithm (ITCA), and the proposed intersection midpoint algorithm (IMA). Experiments conducted in a 732 × 488 × 220 cm indoor environment show that TCA performs well near the center but suffers from reduced accuracy at the edges. In contrast, IMA maintains stable and accurate positioning across all test points, achieving an average error of 12.87 cm. The system offers low power consumption, fast computation, and high positioning accuracy, making it suitable for real-time indoor applications such as hospital patient tracking and shopping malls where GPS is unavailable or unreliable. Full article

High-frequency (HF) communication is critical for applications such as over-the-horizon positioning and ionospheric detection. However, precise time-delay estimation in complex HF channels faces significant challenges from multipath fading, Doppler shifts, and noise. This paper proposes a Modulation Signal-based Adaptive Time-Delay Estimation (MATE) algorithm, which effectively decouples carrier and modulation signals and integrates phase-locked loop (PLL) and delay-locked loop (DLL) techniques. By leveraging the autocorrelation properties of 8PSK (Eight-Phase Shift Keying) signals, MATE compensates for carrier frequency deviations and mitigates multipath interference. Simulation results based on the Watterson channel model demonstrate that MATE achieves an average time-delay estimation error of approximately 0.01 ms with a standard deviation of approximately 0.01 ms, representing a 94.12% reduction in mean error and a 96.43% reduction in standard deviation compared to the traditional Generalized Cross-Correlation (GCC) method. Validation with actual measurement data further confirms the robustness of MATE against channel variations. MATE offers a high-precision, low-complexity solution for HF time-delay estimation, significantly benefiting applications in HF communication systems. This advancement is particularly valuable for enhancing the accuracy and reliability of time-of-arrival (TOA) detection in HF-based sensor networks and remote sensing systems. Full article

The accurate and reliable positioning of unmanned aerial vehicles (UAVs) in urban environments is crucial for urban air mobility (UAM) application, such as logistics, surveillance, and disaster management. However, global navigation satellite systems (GNSSs) often fail in densely populated areas due to signal reflections (multipath propagation) and obstructions non-line-of-sight (NLOS), causing significant positioning errors. To address this, we propose a machine learning (ML) framework that integrates 5G position reference signals (PRSs) to correct UAV position estimates. A dataset was generated using MATLAB’s UAV simulation environment, including estimated coordinates derived from 5G time of arrival (TOA) measurements and corresponding actual positions (ground truth). This dataset was used to train a fully connected feedforward neural network (FNN), which improves the positioning accuracy by learning patterns between predicted and actual coordinates. The model achieved significant accuracy improvements, with a mean absolute error (MAE) of 1.3 m in line-of-sight (LOS) conditions and 1.7 m in NLOS conditions, and a root mean squared error (RMSE) of approximately 2.3 m. The proposed framework enables real-time correction capabilities for dynamic UAV tracking systems, highlighting the potential of combining 5G positioning data with deep learning to enhance UAV navigation in urban settings. This study addresses the limitations of traditional GNSS-based methods in dense urban environments and offers a robust solution for future UAV advancements. Full article

A two-stage fusion filtering positioning algorithm based on prediction residuals and gain adaptation is proposed to address the problems of disturbance and modeling errors in the application of distance-based positioning algorithms in wireless sensor networks, as well as inaccurate initial filtering values leading to large estimation errors or even divergence. Firstly, based on parameterization methods, a pseudo linear equation is constructed from the time of arrival (TOA) and multipath delay. The weighted least squares (WLS) method is applied to obtain the initial value of target position resolution, and its performance approaches the Cramér–Rao lower bound (CRLB). Secondly, the exact position of the target is obtained using the reconstructed Gaussian white noise statistics and the Kalman filtering algorithm. The simulation results show that compared with other initial positioning algorithms, the average positioning accuracy of the proposed algorithm is improved by 28.57%, and it has a better filtering performance. Full article

In modern electronic reconnaissance systems, digital receivers play an important role in receiving a variety of complex signals, in which signal-to-time extraction is a key issue, but traditional methods often rely on the signal envelope, which is easily affected by the value of the threshold setting and the signal-to-noise ratio (SNR) of the signal. In fact, the pulse envelope front has a large derivative, which leads the envelope differentiation to show sharp peaks. In this paper, a time of arrival (TOA) extraction method based on first-order envelope differentiation of the signal is proposed. The method realizes the normalized extraction of different modulated signals by estimating the location where the sharp peaks appear, and it is not easily affected by the threshold setting. The processing flow of the digital receiver is as follows: the signal is first processed by digital channelization, and, after channelization, it passes through the signal detection module; then, after envelope differentiation, the useful signal is filtered out according to the result, and, finally, the pulse descriptor word consisting of the pulse arrival time, pulse width, signal frequency, and signal amplitude is formed, which is convenient for the subsequent processing. The experimental results verify the effectiveness and reliability of the signal arrival time extraction method. Full article

Indoor positioning systems (IPSs) are increasingly vital for various applications on the Internet of Things (IoT), including home automation, navigation in large buildings, AR, and smart city development. These systems rely on techniques such as time of arrival (ToA), angle of arrival (AoA), and received signal strength indicator (RSSI), and Bluetooth low energy (BLE). Despite advancements, challenges such as signal fluctuations, multipath effects, and high infrastructure costs limit the accuracy and adoption of these systems. This paper proposes a deep neural network-based approach to enhance angle estimation by leveraging phase drift values, an underutilized aspect in current models. By employing the phase drift-dependent lightweight angle estimation (PLAE) model, we aim to improve angle prediction accuracy, particularly in complex indoor environments. Experimental results demonstrate that our model achieves higher accuracy compared to traditional methods. The integration of time series data handling capabilities in our approach highlights its potential to provide more reliable indoor positioning solutions. This research contributes to the development of specialized models for precise AoA estimation, addressing the gaps in existing methodologies. Full article

In complex underground parking scenarios, non-line-of-sight (NLOS) obstructions significantly impede positioning signals, presenting substantial challenges for accurate vehicle localization. While traditional positioning approaches primarily focus on mitigating NLOS effects to enhance accuracy, this research adopts an alternative perspective by leveraging NLOS propagation as valuable information, enabling precise positioning in NLOS-dominated environments. We introduce an innovative NLOS positioning framework based on the generalized source (GS) technique, which employs ray-tracing (RT) to transform NLOS paths into equivalent line-of-sight (LOS) paths. A novel GS filtering and weighting strategy to establish initial weights for the nonlinear equation system. To combat significant NLOS noise interference, a robust iterative reweighted least squares (W-IRLS) method synergizes initial weights with optimal position estimation. Integrating ultra-wideband (UWB) delay and angular measurements, four distinct localization modes based on W-IRLS are developed: angle-of-arrival (AOA), time-of-arrival (TOA), AOA/TOA hybrid, and AOA/time-difference-of-arrival (TDOA) hybrid. The comprehensive experimental and simulation results validate the exceptional effectiveness and robustness of the proposed NLOS positioning framework, demonstrating positioning accuracy up to 0.14 m in specific scenarios. This research not only advances the state of the art in NLOS positioning but also establishes a robust foundation for high-precision localization in challenging environments. Full article

Non-contact blade vibration measurement based on blade tip timing (BTT) is a signature method for health monitoring in large rotating machinery. Time of arrival (ToA), as the fundamental data in BTT, directly impacts the accuracy of subsequent vibration parameter identification, thereby affecting the effectiveness of real-time condition monitoring and fault detection. However, no direct calibration method currently exists for ToA, and BTT errors are typically assessed through indirect or relative measurements, resulting in imprecise accuracy evaluations. To address this gap, this paper proposes a method for evaluating BTT measurement accuracy through direct calibration of ToA. A ToA direct calibration model is developed, which equivalently transforms the ToA variation caused by blade vibration into the circumferential angle difference between the BTT sensor and the rotating blade disk. The associated errors are systematically analyzed, and the BTT measurement accuracy is assessed using the directly calibrated ToA. Additionally, a BTT accuracy evaluation device was developed to facilitate this assessment. The uncertainty of the device was evaluated using the Monte Carlo method, accounting for both systematic and random factors. At 0.5° and 1000 rpm, the device yielded an estimated ToA value of 83.3055 μs, with the standard uncertainty of 8.824 × 10⁻³ μs and the 95% confidence interval of [83.2881, 83.3233] μs. The accuracy evaluation tests performed with the developed device simulated various vibration displacement and rotational speed conditions to validate the optical fiber BTT measurement system. The results showed that the system achieved a relative accuracy better than 0.8% and a repeatability accuracy exceeding 0.5%. The proposed BTT accuracy evaluation method and device have been validated for assessing both the accuracy and stability of the BTT measurement system, providing a reliable and precise approach for its evaluation. Full article

Time of arrival (TOA) is a widely utilized method for positioning lightning return strokes, with its accuracy contingent upon the arrival times of signals from different detection sites. Typically, the peak value method is employed to directly extract the peak times of lightning electromagnetic pulse (LEMP) waveforms. By correlating these peak times with the coordinates of the sites, the spatiotemporal parameters of the LEMP can be determined. However, due to the dispersion phenomenon of broadband LEMP signals during propagation, the positioning accuracy of the peak method is relatively low. This paper introduces a novel lightning positioning technique that leverages continuous wavelet transform (CWT) for narrowband feature extraction. Specifically, narrowband signal characteristics were derived through CWT applied to simulation and measured data obtained from six detection sites. Subsequently, positional analysis was performed on both datasets. The results demonstrate that compared to traditional peak value methods, the proposed approach significantly enhances horizontal positioning accuracy for lightning; specifically, positioning error for simulation data decreased from 94.7 m to 5.6 m, while it reduced from 121 m to 9.2 m for practical measured data. Full article

The localization of Unmanned Aerial Vehicles (UAVs) is a critical area of research, particularly in applications requiring high accuracy and reliability in Global Positioning System (GPS)-denied environments. This paper presents a comprehensive overview of short-distance localization methods for UAVs, exploring their strengths, limitations, and practical applications. Among short-distance localization methods, ultra-wideband (UWB) technology has gained significant attention due to its ability to provide accurate positioning, resistance to multipath interference, and low power consumption. Different approaches to the usage of UWB sensors, such as time of arrival (ToA), time difference of arrival (TDoA), and double-sided two-way ranging (DS-TWR), alongside their integration with complementary sensors like Inertial Measurement Units (IMUs), cameras, and visual odometry systems, are explored. Furthermore, this paper provides an evaluation of the key factors affecting UWB-based localization performance, including anchor placement, synchronization, and the challenges of combined use with other localization technologies. By highlighting the current trends in UWB-related research, including its increasing use in swarm control, indoor navigation, and autonomous landing, potential researchers could benefit from this study by using it as a guide for choosing the appropriate localization techniques, emphasizing UWB technology’s potential as a foundational technology in advanced UAV applications. Full article

The stable rotation of young pulsars is often interrupted by two non-deterministic phenomena: glitches and red timing noise. Timing noise provides insights into plasma and nuclear physics under extreme conditions. The framework leverages rotational symmetry in pulsar spin-down models and temporal symmetry in noise processes to achieve computational efficiency, aligning with the journal’s focus on symmetry principles in physical systems. In this paper, we apply a novel frequentist framework developed within the PINT software package (v0.9.8) to analyze single-pulsar noise processes. Using 17.5 years of pulse time-of-arrival (TOA) data for the young pulsar PSR J1741—3016, observed with the Nanshan 26 m radio telescope, we investigate its timing properties. In this study, we employed the Downhill Weighted Least-Squares Fitter to estimate the pulsar’s spin parameters and position. The Akaike Information Criterion (AIC) was used for model parameter selection. The results obtained with PINT were compared to those from ENTERPRISE and TEMPONEST, two Bayesian-based frameworks. We demonstrate that PINT achieves comparable results with significantly reduced computational costs. Additionally, the adequacy of the noise model can be readily verified through visual inspection tools. Future research will utilize this framework to analyze timing noise across a large sample of young pulsars. Full article

In complex indoor environments, target tracking performance is impacted by non-line-of sight (NLOS) noises and other measurement errors. In order to fix NLOS errors, a double extended Kalman filter (DEKF) algorithm is proposed, which refers to a kind of cascaded structure composed of two Kalman filters. In the proposed algorithm, the first filter is a classic Kalman filter (KF) and the second is an extended Kalman filter (EKF). Time of arrival (TOA) measurements collected by multiple stationary ultra-wideband (UWB) sensors are used. The residual errors between the measured TOA and that of the first KF are predicted, and the covariance of the first KF is adjusted correspondingly. Then, we use the estimated distance state of the first KF as a measurement vector for the second EKF in order to obtain a smoother observation. One of the advantages of the proposed algorithm is that it is able to perform target tracking with good accuracy even without or with only one LOS TOA measurement for a period of time without prior information about the NLOS noise, which may be difficult to obtain in practical applications. Another advantage is that the accuracy does not greatly decrease when NLOS noises exist for a long period of time. Finally, the proposed DEKF can maintain the high-precision positioning characteristics in both the constant velocity (CV) model and the constant acceleration (CA) model in the LOS/NLOS environment. Our simulation and experimental results show that the proposed algorithm performs much better than other algorithms in SOTA, particularly in severe mixed LOS/NLOS environments. Full article

In complex indoor environments, target tracking performance is impacted by non-line-of-sight (NLOS) noises and other measurement errors. In order to fix NLOS errors, a Double Extended Kalman filter (DEKF) algorithm is proposed, which refers to a kind of cascaded structure composed of two Kalman filters. In the proposed algorithm, the first filter is a classic Kalman filter (KF) and the second is an Extended Kalman filter (EKF). The time of arrival (TOA) measurements collected by multiple stationary ultra-wide band (UWB) sensors are used. Residual errors between the measured TOA and the prediction from the first KF are used to adjust the covariance of the first KF accordingly. Then, we use the estimated distance state of the first KF as a measurement vector of the second EKF in order to obtain a smoother observation. One of the advantages of the proposed algorithm is that it is able to perform target tracking with a good accuracy even without or with only one line-of-sight(LOS) TOA measurement for a period of time without prior information of the NLOS noise, which may be difficult to obtain in practical applications. Another advantage is that the accuracy does not significantly decrease when NLOS noises persist for a long period of time. Finally, the proposed DEKF can maintain high-precision positioning characteristics in both the constant velocity (CV) model and the constant acceleration (CA) model for LOS/NLOS environments. In the case of mixed LOS/NLOS environments, the RMSE of the proposed algorithm can be kept within 5 cm, while the RMSEs of other compared algorithms are easily beyond tens of centimeters. At the same time, when the confidence of RMSE is set to 95% for 1000 MC simulations, the confidence interval of the proposed algorithm is the smallest, and the mean value is 3–5 times closer to the true value compared to other algorithms. Simulation and experimental results show that the proposed algorithm performs much better than other state-of-the-art algorithms, particularly in severe mixed LOS/NLOS environments. Full article

The growing demand for high-speed data transfer and ultralow latency in wireless networks-on-chips (WiNoC) has spurred exploration into innovative communication paradigms. Recent advancements highlight the potential of the terahertz (THz) band, a largely untapped frequency range, for enabling ultrafast tera-bit-per-second links in chip multiprocessors. However, the ultrashort duration of THz pulses, often in the femtosecond range, makes synchronization a critical challenge, as even minor timing errors can cause significant data loss. This study introduces a preamble-aided noncoherent synchronization scheme for time-of-arrival (ToA) estimation in pulse-based WiNoC communication operating in the THz band (0.02–0.8 THz). The scheme transmits the preamble, a known sequence of THz pulses, at the beginning of each symbol, allowing the energy-detection receiver to collect and analyze the energy of the preamble across multiple integrators. The integrator with maximum energy output is then used to estimate the symbol’s ToA. A preamble design based on maximum pulse energy constraints is also presented. Performance evaluations demonstrate a synchronization probability exceeding $0.98$ for distances under 10 mm at a signal-to-noise ratio of 20 dB, with a normalized mean squared error below ${10}^{-2}$. This scheme enhances synchronization reliability, supporting energy-efficient, high-performance WiNoCs for future multicore systems. Full article

This paper addresses the 3D relative localization problem for two unmanned aerial vehicles (UAVs) using a combination of time-of-arrival (TOA) and angle-of-arrival (AOA) measurements across varied flight trajectories. We commenced by examining the problem of relative attitude estimation using only time-of-arrival (TOA) measurements, taking into account a distance-dependent noise model. To address this issue, we constructed a constrained weighted least squares (CWLS) problem and applied semidefinite relaxation (SDR) techniques for its resolution. Furthermore, we extended our analysis to incorporate AOA measurements and scrutinize the Cramer–Rao Lower Bound (CRLB) to illustrate enhanced localization accuracy through TOA-AOA integration compared to TOA alone under stable trajectory conditions. Ultimately, numerical simulations substantiate the efficacy of the proposed methodologies. Full article