Search Results (517)

With the advent of the 5G era, high-precision localization based on mobile communication networks has become a research hotspot, playing an important role in indoor emergency rescue in shopping malls, smart factory management and tracking, as well as precision marketing. However, in complex environments, non-line-of-sight (NLOS) propagation reduces the measurement accuracy of 5G signals, causing large deviations in position solving. In order to obtain high-precision position information, it is necessary to recognize the propagation state of the signal before distance measurement or angle measurement. In this paper, we propose a dynamic multi-level optimization of comprehensive features (DMOCF) network model for line-of-sight (LOS)/NLOS identification. The DMOCF model improves the expression ability of the deep model by adding a res2 module to the time delay neural network (TDNN), so that fine-grained feature information such as weak reflections or noise in the signal can be deeply understood by the model, enabling the network to realize layer-level feature processing by adding Squeeze and Excitation (SE) blocks with adaptive weight adjustment for each layer. A mamba module with position coding is added to each layer to capture the local patterns of wireless signals under complex propagation phenomena by extracting local features, enabling the model to understand the evolution of signals over time in a deeper way. In addition, this paper proposes an improved sand cat search algorithm for network parameter search, which improves search efficiency and search accuracy. Overall, this new network architecture combines the capabilities of local feature extraction, global feature preservation, and time series modeling, resulting in superior performance in the 5G channel impulse response (CIR) signal classification task, improving the accuracy of the model and accurately identifying the key characteristics of multipath signal propagation. Experimental results show that the NLOS/LOS recognition method proposed in this paper has higher accuracy than other deep learning methods. Full article

A localization system is essential for providing crucial position information in various applications, such as three-dimensional (3D) warehousing, smart cities, uncrewed aerial vehicle (UAV) control, and other services that heavily rely on accurate localization. However, the transmission of wireless signals can be impacted by diverse environmental factors, leading to decreased accuracy in determining localization in scenarios involving multiple signal paths, None Line of Sight (NLOS) situations, and different types of interference. In some cases, this may render the localization system unsuitable for subsequent applications. To enhance the localization accuracy, we propose a 3D localization method using an optimization selection strategy. With this method, we make the following innovations: (1) We utilize an evaluation of feature points to minimize the negative impact of NLOS. (2) Through the backward assessment and the optimal selection of distance estimations, we obtain a more accurate localization result. In more detail, our approach implements a specific strategy for distance estimation, followed by defining the feature points within the localization field and selecting the most optimized one. Subsequently, using the chosen feature points, we evaluate the quality of the distances in reverse. We then select suitable distance estimation outcomes for further localization calculations. Ultimately, by employing the proposed 3D localization technique, we achieve a highly precise localization result. We perform simulations and experiments to assess the presented localization system. More specifically, compared with certain strategies, we improve the localization accuracy by 58.33% and 43.83% using the selection strategy. Compared with the other methods, we enhance the localization accuracy from 17.94% to 32.54%. The results from these evaluations demonstrate that our method significantly enhances 3D localization accuracy. Full article

Positioning using ultra-wideband (UWB) signals can be used to achieve centimeter-level indoor positioning. UWB has been widely used in indoor localization, vehicle networking, industrial IoT, etc. However, due to non-line-of-sight (NLOS) and multipath interference problems, UWB cannot provide adequate position information, which affects the final positioning accuracy. This paper proposes an adaptive UWB/PDR localization algorithm based on the maximum point-by-point distance to solve the problems of poor UWB performance and the error accumulation of the pedestrian dead reckoning (PDR) algorithm in NLOS scenarios that is used to enhance the robustness and accuracy of indoor positioning. Specifically, firstly, the cumulative distribution function (CDF) map of localization under normal conditions is obtained through offline pretraining and then compared with the CDF obtained when pedestrians are moving on the line. Then, the maximum point-by-point distance algorithm is used to identify the abnormal base stations. Then, the standard base stations are filtered out for localization. To further improve the localization accuracy, this paper proposes a UWB/PDR algorithm based on an improved adaptive extended Kalman filtering (EKF), which dynamically adjusts the position information through the adaptive factor, eliminates the influence of significant errors on the current position information and realizes multi-sensor fusion positioning. The realization results show that the algorithm in this paper has a solid ability to identify abnormal base stations and that the adaptive extended Kalman filtering (AEKF) algorithm is improved by 81.27%, 58.50%, 29.76%, and 18.06% compared to the PDR, UWB, EKF, and AEKF algorithms, respectively. Full article

In the era of industrial evolution, satellites are being viewed as swarm intelligence that does not rely on a single system but multiple constellations that collaborate autonomously. This has enhanced the potential of the Global Navigation Satellite System (GNSS) to contribute to improving position, navigation, and timing (PNT) services. However, multipath (MP) and non-line-of-sight (NLOS) receptions remain the prominent vulnerability for the GNSS in harsh environments. The aim of this research is to investigate the impact of MP and NLOS receptions on GNSS performance and then propose a Received Signal Quality Monitoring (RSQM) algorithm. The RSQM algorithm works in two ways. Initially, it performs a signal quality test based on a fuzzy inference system. The input parameters are carrier-to-noise ratio (CNR), Normalized Range Residuals (NRR), and Code–Carrier Divergence (CCD), and it computes the membership functions based on the Mamdani method and classifies the signal quality as LOS, NLOS, weak NLOS, and strong NLOS. Secondly, it performs an adaptive navigation strategy to exclude/mask the affected range measurements while considering the satellite geometry constraints (i.e., $DOP\le 2$). For this purpose, comprehensive research to quantify the multi-constellation GNSS receiver with four constellation configurations (GPS, BeiDou, GLONASS, and Galileo) has been carried out in various operating environments. This RSQM-based GNSS receiver has the capability to identify signal quality and perform adaptive navigation accordingly to improve navigation performance. The results suggest that GNSS performance in terms of position error is improved from 5.4 m to 2.3 m on average in the complex urban environment. Combining the RSQM algorithm with the GNSS has great potential for the future industrial revolution (Industry 5.0), making things automatic and sustainable like autonomous vehicle operation. Full article

Localization accuracy in non-line-of-sight (NLOS) scenarios is often hindered by the complex nature of multipath propagation. Traditional approaches typically focus on NLOS node identification and error mitigation techniques. However, the intricacies of NLOS localization are intrinsically tied to propagation challenges. In this paper, we propose a novel single-site localization method tailored for complex multipath NLOS environments, leveraging only angle-of-arrival (AOA) estimates in conjunction with a ray-tracing (RT) algorithm. The method transforms NLOS paths into equivalent line-of-sight (LOS) paths through the generation of generalized sources (GSs) via ray tracing. A novel weighting mechanism for GSs is introduced, which, when combined with an iteratively reweighted least squares (IRLS) estimator, significantly improves the localization accuracy of non-cooperative target sources. Furthermore, a multipath similarity displacement matrix (MSDM) is incorporated to enhance accuracy in regions with pronounced multipath fluctuations. Simulation results validate the efficacy of the proposed algorithm, achieving localization performance that approaches the Cramér–Rao lower bound (CRLB), even in challenging NLOS scenarios. Full article

Relative positioning accuracy between two devices is dependent on the precise range measurements. Ultra-wideband (UWB) technology is one of the popular and widely used technologies to achieve centimeter-level accuracy in range measurement. Nevertheless, harsh indoor environments, multipath issues, reflections, and bias due to antenna delay degrade the range measurement performance in line-of-sight (LOS) and non-line-of-sight (NLOS) scenarios. This article proposes an efficient and robust method to mitigate range measurement error in LOS and NLOS conditions by combining the latest artificial intelligence technology. A GP-enhanced non-linear function is proposed to mitigate the range bias in LOS scenarios. Moreover, NLOS identification based on the sliding window and Bayesian Conv-BLSTM method is utilized to mitigate range error due to the non-line-of-sight conditions. A novel spatial–temporal attention module is proposed to improve the performance of the proposed model. The epistemic and aleatoric uncertainty estimation method is also introduced to determine the robustness of the proposed model for environment variance. Furthermore, moving average and min-max removing methods are utilized to minimize the standard deviation in the range measurements in both scenarios. Extensive experimentation with different settings and configurations has proven the effectiveness of our methodology and demonstrated the feasibility of our robust UWB range error mitigation for LOS and NLOS scenarios. Full article

In this report, the nonlinear optical (NLO) properties of titanium dioxide nanoparticles (TiO₂ NPs) have been explored experimentally using femtosecond laser light along with the Z-scan approach. The synthesis of TiO₂ NPs was carried out in distilled water through nanosecond second harmonic Nd:YAG laser ablation. Characterization of the TiO₂ NPs colloids was conducted using UV-visible absorption spectroscopy, transmission electron microscopy (TEM), inductively coupled plasma (ICP), and energy-dispersive X-ray spectroscopy (EDX). The TEM analysis indicated that the size distribution and average particle size of the TiO₂ NPs varied from 8.3 nm to 19.1 nm, depending on the laser ablation duration. The third-order NLO properties of the synthesized TiO₂ NPs were examined at different excitation laser wavelengths and incident powers through both open- and closed-aperture Z-scan techniques, utilizing a laser pulse duration of 100 fs and a high repetition rate of 80 MHz. The nonlinear absorption (NLA) coefficient and nonlinear refractive (NLR) index of the TiO₂ NPs colloidal solutions were found to be influenced by the incident power, excitation wavelength, average size, and concentration of TiO₂ NPs. Maximum values of 4.93 × 10⁻⁹ cm/W for the NLA coefficient and 15.39 × 10⁻¹⁵ cm²/W for the NLR index were observed at an excitation wavelength of 800 nm, an incident power of 0.6 W, and an ablation time of 15 min. The optical limiting (OL) effects of the TiO₂ NPs solution at different ablation times were investigated and revealed to be concentration and average size dependent. An increase in concentration results in a more limiting effect. Full article

The implementation of accurate positioning methods in both line-of-sight (LOS) and non-line-of-sight (NLOS) environments has been emphasized for seamless 6G application services. In LOS environments with unobstructed paths between the transmitter and receiver, accurate tracking essential for seamless 6G services is achievable. However, accurate three-dimensional (3D) outdoor positioning has been challenging to achieve in NLOS environments where positioning accuracy may be severely degraded. In this paper, a novel 3D outdoor positioning method considering both LOS and NLOS environments is proposed. Considering the practical positioning systems, the data received from satellites often contain null values and outliers. Thus, a kernel density estimation (KDE)-based outlier removal method is used for effectively detecting the null values and outliers through temporal correlation analysis. A dilution of precision-based adaptive Kalman filter (DOP-AKF) is proposed to mitigate the effects of an NLOS environment. In the proposed method, the DOP-AKF can optimize the performance of the 3D positioning system that dynamically adapts to complex environments. Experimental results show that the proposed method can improve 3D positioning accuracy by up to 18.84% compared to conventional methods. Therefore, the proposed approach can be suggested as a promising solution for 3D outdoor positioning in 6G wireless systems. Full article

The increasing deployment of unmanned aerial vehicles (UAVs) in urban air mobility (UAM) necessitates robust Global Navigation Satellite System (GNSS) integrity monitoring that can adapt to the complexities of urban environments. The traditional integrity monitoring approaches struggle with the unique challenges posed by urban settings, such as frequent signal blockages, multipath reflections, and Non-Line-of-Sight (NLoS) receptions. This study introduces a novel machine learning-based GNSS integrity monitoring framework that incorporates environment recognition to create environment-specific error models. Using a comprehensive Hardware-in-the-Loop (HIL) simulation setup, extensive data were generated for suburban, urban, and urban canyon environments to train and validate the models. The proposed Natural Gradient Boosting Protection Level (NGB-PL) method, leveraging the uncertainty prediction capabilities of the NGB algorithm, demonstrated superior performance in estimating protection levels compared to the classical methods. The results indicated that environment-specific models significantly enhanced both accuracy and system availability, particularly in challenging urban scenarios. The integration of environment recognition into the integrity monitoring framework allows the dynamic adaptation to varying environmental conditions, thus substantially improving the reliability and safety of UAV operations in urban air mobility applications. This research offers a novel protection level (PL) estimation method and a framework tailored to GNSS integrity monitoring for UAM, which enhances the availability with narrower PL bound gaps without yielding higher integrity risks. Full article

To improve the current indoor positioning algorithms, which have insufficient positioning accuracy, an ultra-wideband (UWB) positioning algorithm based on the Levenberg–Marquardt algorithm with improved Kalman filtering is proposed. An alternative double-sided two-way ranging (ADS-TWR) algorithm is used to obtain the distance from the UWB tag to each base station and calculate the initial position of the tag by the least squares method. The Levenberg–Marquardt algorithm is used to correct the covariance matrix of the Kalman filter, and the improved Kalman filtering algorithm is used to filter the initial position to obtain the final position of the tag. The feasibility and effectiveness of the algorithm are verified by MATLAB simulation. Finally, the UWB positioning system is constructed, and the improved Kalman filter algorithm is experimentally verified in LOS and NLOS environments. The average X-axis and the Y-axis positioning errors in the LOS environment are 6.9 mm and 5.4 mm, respectively, with a root mean square error of 10.8 mm. The average positioning errors for the X-axis and Y-axis in the NLOS environment are 20.8 mm and 18.0 mm, respectively, while the root mean square error is 28.9 mm. The experimental results show that the improved algorithm has high accuracy and good stability. At the same time, it can effectively improve the convergence speed of the Kalman filter. Full article

Continuous accurate positioning in global navigation satellite system (GNSS)-denied environments is essential for robot navigation. Significant advances have been made with light detection and ranging (LiDAR)-inertial measurement unit (IMU) techniques, especially in challenging environments with varying lighting and other complexities. However, the LiDAR/IMU method relies on a recursive positioning principle, resulting in the gradual accumulation and dispersion of errors over time. To address these challenges, this study proposes a tightly coupled LiDAR/IMU/UWB fusion approach that integrates an ultra-wideband (UWB) positioning technique. First, a lightweight point cloud segmentation and constraint algorithm is designed to minimize elevation errors and reduce computational demands. Second, a multi-decision non-line-of-sight (NLOS) recognition module using information entropy is employed to mitigate NLOS errors. Finally, a tightly coupled framework via a resilient mechanism is proposed to achieve reliable position estimation for quadruped robots. Experimental results demonstrate that our system provides robust positioning results even in LiDAR-limited and NLOS conditions, maintaining low time costs. Full article

Non-line-of-sight (NLOS) communication with severe loss always leads to performance degradation in unmanned aerial vehicle (UAV) payload communication. In this paper, a UAV NLOS communication scheme based on single-carrier frequency domain equalization with cyclic prefix and cyclic suffix (CP/CS-SC-FDE) is designed. First, the reasons behind the generation of later intersymbol interference (LISI) in UAV NLOS communication are investigated. Then, the frame structure of conventional single-carrier frequency domain equalization with cyclic prefix (CP-SC-FDE) is improved, and the UAV NLOS communication frame structure based on cyclic prefix (CP) and cyclic suffix (CS) is designed. Furthermore, a channel estimation algorithm applicable to this scheme is proposed. The numerical results show that this UAV communication scheme can eliminate intersymbol interference (ISI) in NLOS communication. Compared with the conventional CP-SC-FDE system, this scheme can achieve excellent performance in the Rayleigh channel and other standard NLOS channels. In the CP/CS-SC-FDE system, the BER result is similar to that under ideal synchronization. Full article

5G positioning technology has become deeply integrated into daily life. However, in wireless signal propagation environments, there may exist non-line-of-sight (NLOS) conditions, which lead to signal blockage and subsequently hinder the provision of positioning services. To address this issue, this paper proposes an intelligent reflecting surface (IRS) NLOS time difference of arrival–angle of arrival (TDOA-AOA) localization (INTAL) algorithm. First, the algorithm constructs a system model for 5G IRS localization, effectively overcoming the challenges of positioning in NLOS paths. Then, by applying the multiple signal classification algorithm to estimate the time delay and angle, and using the Chan algorithm to obtain the user’s estimated coordinates, an optimization problem is formulated to minimize the distance between the estimated and actual coordinates. The tent–snake optimization algorithm is employed to solve this optimization problem, thereby reducing localization errors. Finally, simulations demonstrate that the INTAL algorithm outperforms the snake optimization (SO) algorithm and the gray wolf optimization (GWO) algorithm under the same conditions, reducing the localization error by 56% and 60% on average, respectively. Additionally, when the signal-to-noise ratio is 30 dB, the localization error of the INTAL algorithm is only 0.2968 m, while the errors for the SO and GWO algorithms are 0.6733 m and 0.7398 m, respectively. This further proves the significant improvement of the algorithm in terms of localization accuracy. Full article

The surface material of an object is a key factor that affects non-line-of-sight (NLOS) imaging. In this paper, we introduce the bidirectional reflectance distribution function (BRDF) into NLOS imaging to study how the target surface material influences the quality of NLOS images. First, the BRDF of two surface materials (aluminized insulation material and white paint board) was modeled using deep neural networks and compared with a five-parameter empirical model to validate the method’s accuracy. The method was then applied to fit BRDF data for different common materials. Finally, NLOS target simulations with varying surface materials were reconstructed using the confocal diffusion tomography algorithm. The reconstructed NLOS images were classified via a convolutional neural network to assess how different surface materials impacted imaging quality. The results show that image clarity improves when decreasing the specular reflection and increasing the diffuse reflection, with the best results obtained for surfaces exhibiting a high diffuse reflection and no specular reflection. Full article

In this work, the nonlinear optical (NLO) properties of CuO nanoparticles (CuO NPs) were studied experimentally using the pulsed laser ablation (PLA) technique. A nanosecond Nd: YAG laser was employed as the ablation excitation source to create CuO NPs in distilled water. Various CuO NPs samples were prepared at ablation periods of 20, 30, and 40 min. Utilizing HR-TEM, the structure of the synthesized CuO NPs samples was verified. In addition, a UV–VIS spectrophotometer was used to investigate the linear features of the samples. The Z-scan technique was utilized to explore the NLO properties of CuO NPs samples, including the nonlinear absorption coefficient ($\beta$) and nonlinear refractive index ($n_2$). An experimental study on the NLO features was conducted at a variety of excitation wavelengths (750–850 nm), average excitation powers (0.8–1.2 W), and CuO NPs sample concentrations and sizes. The reverse saturable absorption (RSA) behavior of all CuO NPs samples differed with the excitation wavelength and average excitation power. In addition, the CuO NPs samples demonstrated excellent optical limiters at various excitation wavelengths, with limitations dependent on the size and concentration of CuO NPs. Full article