TrackInFactory: a tight coupling particle filter for industrial vehicle tracking in indoor environments
Autor(a) principal: | |
---|---|
Data de Publicação: | 2022 |
Outros Autores: | , , |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | https://hdl.handle.net/1822/82102 |
Resumo: | Localization and tracking of industrial vehicles have a key role in increasing productivity and improving the logistics processes of factories. Due to the demanding requirements of industrial vehicle tracking and navigation, existing systems explore technologies, such as LiDAR or ultra wide-band to achieve low positioning errors. In this article we propose TrackInFactory, a system that combines Wi-Fi with motion sensors, achieving submeter accuracy and a low maximum error. A tight coupling approach is explored in sensor fusion with a particle filter (PF). Information regarding the vehicle's initial position and heading is not required. This approach uses the similarity of Wi-Fi samples to update the particles' weights as they move according to motion sensor data. The PF dynamically adjusts its parameters based on a metric for estimating the confidence in position estimates, allowing to improve positioning performance. A series of simulations were performed to tune the PF. Then the approach was validated in real-world experiments with an industrial tow tractor, achieving a mean error of 0.81 m. In comparison to a loose coupling approach, this method reduced the maximum error by more than 60% and improved the overall mean error by more than 20%. |
id |
RCAP_b3fec5ee70f4ae3bfe3aef37ca1b31f7 |
---|---|
oai_identifier_str |
oai:repositorium.sdum.uminho.pt:1822/82102 |
network_acronym_str |
RCAP |
network_name_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository_id_str |
7160 |
spelling |
TrackInFactory: a tight coupling particle filter for industrial vehicle tracking in indoor environmentsWireless fidelityLocation awarenessRobot sensing systemsSensor fusionReliabilityRadiofrequency identificationProduction facilitiesBayesian filteringdead reckoning (DR)indoor positioningindoor trackingindustrial vehicleparticle filter (PF)sensor fusiontight coupling (TC)Wi-Fi-based positioningindustry 4.0industry 40Science & TechnologyLocalization and tracking of industrial vehicles have a key role in increasing productivity and improving the logistics processes of factories. Due to the demanding requirements of industrial vehicle tracking and navigation, existing systems explore technologies, such as LiDAR or ultra wide-band to achieve low positioning errors. In this article we propose TrackInFactory, a system that combines Wi-Fi with motion sensors, achieving submeter accuracy and a low maximum error. A tight coupling approach is explored in sensor fusion with a particle filter (PF). Information regarding the vehicle's initial position and heading is not required. This approach uses the similarity of Wi-Fi samples to update the particles' weights as they move according to motion sensor data. The PF dynamically adjusts its parameters based on a metric for estimating the confidence in position estimates, allowing to improve positioning performance. A series of simulations were performed to tune the PF. Then the approach was validated in real-world experiments with an industrial tow tractor, achieving a mean error of 0.81 m. In comparison to a loose coupling approach, this method reduced the maximum error by more than 60% and improved the overall mean error by more than 20%.This work was supported in part by the FCT-Fundacao para a Ciencia e Tecnologia within the Research and Development Units Project Scope under Grant UIDB/00319/2020; in part by the Ph.D. Fellowship under Grant PD/BD/137401/2018; and in part by the Ministerio de Ciencia, Innovacion y Universidades under Grant PTQ2018-009981.IEEEUniversidade do MinhoSilva, Ivo Miguel MenezesPendão, Cristiano GonçalvesTorres-Sospedra, JoaquínMoreira, Adriano20222022-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/1822/82102engI. Silva, C. Pendão, J. Torres-Sospedra and A. Moreira, "TrackInFactory: A Tight Coupling Particle Filter for Industrial Vehicle Tracking in Indoor Environments," in IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 52, no. 7, pp. 4151-4162, July 2022, doi: 10.1109/TSMC.2021.3091987.2168-221610.1109/TSMC.2021.3091987https://ieeexplore.ieee.org/document/9475592info:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-12-23T01:31:14Zoai:repositorium.sdum.uminho.pt:1822/82102Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T19:19:11.930760Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
TrackInFactory: a tight coupling particle filter for industrial vehicle tracking in indoor environments |
title |
TrackInFactory: a tight coupling particle filter for industrial vehicle tracking in indoor environments |
spellingShingle |
TrackInFactory: a tight coupling particle filter for industrial vehicle tracking in indoor environments Silva, Ivo Miguel Menezes Wireless fidelity Location awareness Robot sensing systems Sensor fusion Reliability Radiofrequency identification Production facilities Bayesian filtering dead reckoning (DR) indoor positioning indoor tracking industrial vehicle particle filter (PF) sensor fusion tight coupling (TC) Wi-Fi-based positioning industry 4.0 industry 4 0 Science & Technology |
title_short |
TrackInFactory: a tight coupling particle filter for industrial vehicle tracking in indoor environments |
title_full |
TrackInFactory: a tight coupling particle filter for industrial vehicle tracking in indoor environments |
title_fullStr |
TrackInFactory: a tight coupling particle filter for industrial vehicle tracking in indoor environments |
title_full_unstemmed |
TrackInFactory: a tight coupling particle filter for industrial vehicle tracking in indoor environments |
title_sort |
TrackInFactory: a tight coupling particle filter for industrial vehicle tracking in indoor environments |
author |
Silva, Ivo Miguel Menezes |
author_facet |
Silva, Ivo Miguel Menezes Pendão, Cristiano Gonçalves Torres-Sospedra, Joaquín Moreira, Adriano |
author_role |
author |
author2 |
Pendão, Cristiano Gonçalves Torres-Sospedra, Joaquín Moreira, Adriano |
author2_role |
author author author |
dc.contributor.none.fl_str_mv |
Universidade do Minho |
dc.contributor.author.fl_str_mv |
Silva, Ivo Miguel Menezes Pendão, Cristiano Gonçalves Torres-Sospedra, Joaquín Moreira, Adriano |
dc.subject.por.fl_str_mv |
Wireless fidelity Location awareness Robot sensing systems Sensor fusion Reliability Radiofrequency identification Production facilities Bayesian filtering dead reckoning (DR) indoor positioning indoor tracking industrial vehicle particle filter (PF) sensor fusion tight coupling (TC) Wi-Fi-based positioning industry 4.0 industry 4 0 Science & Technology |
topic |
Wireless fidelity Location awareness Robot sensing systems Sensor fusion Reliability Radiofrequency identification Production facilities Bayesian filtering dead reckoning (DR) indoor positioning indoor tracking industrial vehicle particle filter (PF) sensor fusion tight coupling (TC) Wi-Fi-based positioning industry 4.0 industry 4 0 Science & Technology |
description |
Localization and tracking of industrial vehicles have a key role in increasing productivity and improving the logistics processes of factories. Due to the demanding requirements of industrial vehicle tracking and navigation, existing systems explore technologies, such as LiDAR or ultra wide-band to achieve low positioning errors. In this article we propose TrackInFactory, a system that combines Wi-Fi with motion sensors, achieving submeter accuracy and a low maximum error. A tight coupling approach is explored in sensor fusion with a particle filter (PF). Information regarding the vehicle's initial position and heading is not required. This approach uses the similarity of Wi-Fi samples to update the particles' weights as they move according to motion sensor data. The PF dynamically adjusts its parameters based on a metric for estimating the confidence in position estimates, allowing to improve positioning performance. A series of simulations were performed to tune the PF. Then the approach was validated in real-world experiments with an industrial tow tractor, achieving a mean error of 0.81 m. In comparison to a loose coupling approach, this method reduced the maximum error by more than 60% and improved the overall mean error by more than 20%. |
publishDate |
2022 |
dc.date.none.fl_str_mv |
2022 2022-01-01T00:00:00Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
https://hdl.handle.net/1822/82102 |
url |
https://hdl.handle.net/1822/82102 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
I. Silva, C. Pendão, J. Torres-Sospedra and A. Moreira, "TrackInFactory: A Tight Coupling Particle Filter for Industrial Vehicle Tracking in Indoor Environments," in IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 52, no. 7, pp. 4151-4162, July 2022, doi: 10.1109/TSMC.2021.3091987. 2168-2216 10.1109/TSMC.2021.3091987 https://ieeexplore.ieee.org/document/9475592 |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.publisher.none.fl_str_mv |
IEEE |
publisher.none.fl_str_mv |
IEEE |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
instname_str |
Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
instacron_str |
RCAAP |
institution |
RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
collection |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository.name.fl_str_mv |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
repository.mail.fl_str_mv |
|
_version_ |
1799132650046226432 |