A large amount of land-use, environment, socio-economic, energy and transport data is generated in cities. An integrated perspective managing analysing such big can answer a number science, policy, planning, governance business questions support decision making enabling smarter environment. This paper presents theoretical experimental on the smart cities focused management analysis by proposing cloud-based analytics service. prototype has been designed developed to demonstrate effectiveness...

This paper presents a novel Kalman filter for the accurate determination of vehicle's attitude (pitch and roll angles) using low-cost MEMS inertial measurement unit (IMU) sensor, comprising tri-axial gyroscope accelerometer. Currently, vehicles deploy expensive gyroscopes determination. A gyro cannot be used because drift problem. Typically, an accelerometer is to correct this by measuring from gravitational acceleration. is, however, not possible in vehicular applications, measurements are...

Accurately estimating the orientation of different human body segments using low cost inertial sensors is a key component in various activity-related and healthcare-related applications. Typically, signals from gyroscope an accelerometer are fused inside Kalman filter to determine orientation. However, measurements influenced by linear accelerations addition gravitational acceleration that corrupts estimates. The conventional method deal with model it as first-order low-pass process estimate...

Many vehicular applications such as navigation, collision avoidance, and location-based services envisioned under intelligent transportation system (ITS) framework require position information with certain accuracy reliability. Global navigation satellite (GNSS) are widely deployed for absolute relative positioning in a wide range of ITS due to their global coverage but these systems have limited availability meet the requirement many safety-critical applications. This limitation has led...

This paper presents a method for localizing land vehicle using low cost MEMS IMU sensors and terrain map in global positioning system (GPS) denied environment. Previous attempts to localize based on information used tactical grade which is not cost-effective commercial scale. On the other hand, are very cheap but cannot provide accurate attitude estimation moving as sensor measurements influenced by kinematic motion of vehicle. Acceleration braking corrupt longitudinal turning corrupts...

Improving the accuracy of position and velocity estimates from single frequency Global Navigation Satellite System (GNSS) receivers is paramount importance due to their wide spread role in new emerging real time applications requiring higher levels accuracy. Single receiver has only two independent measurements: code delay carrier phase measurements. Pseudorange measurements are unambiguous but noisy while those precise suffer integer ambiguity problem. In order obtain high without...

Considering a common case where measurements are obtained from independent sensors, we present novel outlier-robust filter for nonlinear dynamical systems in this work. The proposed method is devised by modifying the measurement model and subsequently using theory of Variational Bayes general Gaussian filtering. We treat outliers independently observations leading to selective rejection corrupted data during inference. By carrying out simulations variable number sensors verify that an...

We consider the problem of attitude estimation rigid bodies in motion using low cost inertial measurement unit (IMU). An efficient scheme is proposed two different Kalman filters by deriving their models for precise (pitch and roll) presence high prolonged dynamic conditions gyro bias. Both work a coupled fashion where one provides accurate estimates body external acceleration accelerometer conjunction with gyroscope while second filter responsible to estimate bias, allowing be used any...

Traditional approach towards precise point positioning in a single frequency global navigation satellite system (GNSS) receiver is to combine the but ambiguous carrier phase measurements with noisy unambiguous code delay get better estimate of pseudorange dynamics. However, ionosphere divergence error and cycle slips limit efficacy this especially harsh propagation scenarios. We propose new that utilizes only same level accuracy as from traditional approach. The proposed based on extracting...

In this letter, we consider the problem of dynamic state estimation (DSE) in scenarios where sensor measurements are corrupted with outliers. For such situations, propose a filter that utilizes maximum posteriori extended Kalman filtering framework to identify and discard outlier-ridden from faulty at any given time instant. However, during process, all those not affected by outliers still utilized for estimation. Using an illustrative example target tracking, demonstrate effectiveness...

State estimation of dynamical systems is crucial for providing new decision-making and system automation information in different applications. However, the assumptions on standard computational models sensor measurements can be violated practice due to types data abnormalities such as outliers biases. In this work, we focus occurrence measurement biases propose a robust filter their detection mitigation during state nonlinear systems. We model presence bias each dimension within generative...

Triaxial magnetometers are indispensable part of every attitude sensing equipment for providing heading information. However, magnetometer measurements affected by a number error sources such as soft iron, hard sensor nonorthogonality, and bias. These erroneous measurements, if not properly calibrated, deteriorate the quality estimates. In this paper, we present new approach to calibrate triaxial posing calibration problem stochastic optimization problem. A scalar objective function is...

A multi-sensor, multi-modal sensor node for human and vehicle activity monitoring is designed developed. As a first step to achieve our objective, we have used dual pyroelectric IR (PIR) system monitoring. The sampled data from two PIR sensors, under laboratory conditions, processed individually determine the event window size, which then fed simple algorithms direction potentially measure speed of passing humans. We also show that count can be obtained some special scenarios. Preliminary...

Accurate vehicle orientation tracking in three dimensions or 3-D attitude is an essential requirement for various stability and safety applications. In this article, we consider the problem of along with its external acceleration estimation using low-cost inertial measurement units. The current state-of-the-art approaches are unable to estimate when body motion a prolonged period as accelerometer measurements corrupted by accelerations that produced due movements. novel filtering framework...

This article proposes an online scheme for state estimation of a generic class nonlinear dynamical systems in the presence abnormal measurement data from sensors. We thoroughly illustrate why performance standard recursive Bayesian inference degrades any distortion. After demonstrating how different abnormalities can be accommodated explicitly inside state-space model, we propose robust mechanism to perform on presented model not only detect but also mitigate effect corrupted measurements...

Detecting and processing Global Navigation Satellite System (GNSS) signals indoors in urban canyons, have gained a great deal of attention due to the problems very weak hostile environments. The detection GNSS is generally based on application statistical test, derived from maximum likelihood theory. work presented here considers new approach using Bayesian technique within scenario where search space size already reduced few tens cells some kind assisted information. are considered as...

The problem of designing the robust architectures for tracking global navigation satellite system (GNSS) signals in harsh environments has gained immense attraction. classical closed loop like phase locked (PLL) have been used many years purposes but challenging applications their design procedure becomes intricate. This paper proposes and demonstrates use a quasi-open architecture to estimate time varying carrier frequency GNSS signal. It is shown via simulation results that such type...

In this paper, we propose an inertial measurement unit (IMU) based accurate attitude estimation algorithm for land vehicles using only accelerometer and magnetometer data along with a set of nonholonomic constraints on vehicle motion. Currently, most the IMU methods deploy gyroscopes measurements which work efficiently either static or quasi-static conditions. However, during prolonged dynamic phases motion, are corrupted due to external acceleration deteriorates accuracy. illustrate that...

In Global navigation Satellite System (GNSS) based positioning, the use of carrier phase measurements is widening day by due to their preciseness as compared code delay measurements. Although, are precise but they suffer from anomalies such cycle slips and receiver clock jumps in addition other error sources satellite-user dynamics atmospheric delays. On one end, detection exclusion these critical for accurate reliable positioning. it very difficult detect especially dynamic environment...

In this paper, a novel approach towards horizon-based maximum likelihood (ML) state estimator is proposed that makes the estimation process more robust against unmodeled and unstructured noise disturbances in state-space models. State space models provide powerful way to perform parameter for dynamical systems. However, if measurements are contaminated by outliers with no known models, highly biased. A ML-based used find batch solution filtering problem. Based on ML solution, algorithm...