Performance analysis of a circular statistics based filter for pedestrian indoor tracking with bearings only measurements provided by low cost sensors

Detalhes bibliográficos
Autor(a) principal: Nery, Vinícius Ferreira
Data de Publicação: 2018
Tipo de documento: Trabalho de conclusão de curso
Idioma: por
Título da fonte: Biblioteca Digital de Monografias da UnB
Texto Completo: https://bdm.unb.br/handle/10483/28493
Resumo: Trabalho de Conclusão de Curso (graduação)—Universidade de Brasília, Faculdade de Tecnologia, Departamento de Engenharia Elétrica, 2018.
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spelling Nery, Vinícius FerreiraIshihara, João YoshiyukiNERY, Vinícius Ferreira. Performance analysis of a circular statistics based filter for pedestrian indoor tracking with bearings only measurements provided by low cost sensors. 2018. vii, 55 f., il. Trabalho de Conclusão de Curso (Bacharelado em Engenharia Elétrica)—Universidade de Brasília, Brasília, 2018.https://bdm.unb.br/handle/10483/28493Trabalho de Conclusão de Curso (graduação)—Universidade de Brasília, Faculdade de Tecnologia, Departamento de Engenharia Elétrica, 2018.A literatura recente sugere que a estatística circular se apresenta uma ferramenta valiosa em algoritmos de filtragem que envolvem quantidades angulares, permitindo um tratamento correto das distribuições dessas. Nesse contexto, esse trabalho almeja proporcionar uma análise da performance de um de um algoritmo de filtragem, baseado em estatística circular, para rastreamento de pedestres em ambientes fechados. As medidas para o esquema de localização são oriundas de um sensor de baixo custo baseado em técnicas de direção de chegada (DOA). Dessa forma, um tratamento correto da incerteza nas medidas será abordado. Simulações realizadas no MATLAB indicam que o filtro apresentado possui, quando a incerteza é alta, uma performance superior à abordagens que utilizam EKF e UKF. Portanto, os resultados inspiram o uso do filtro apresentado para implementações físicas.Submitted by Patricia Nunes (patricia@bce.unb.br) on 2021-09-09T15:09:57Z No. of bitstreams: 1 2018_ViniciusFerreiraNery_tcc.pdf: 4350325 bytes, checksum: 95d59553e65c6e820bbabfb241617094 (MD5)Approved for entry into archive by Patricia Nunes (patricia@bce.unb.br) on 2021-09-09T15:11:06Z (GMT) No. of bitstreams: 1 2018_ViniciusFerreiraNery_tcc.pdf: 4350325 bytes, checksum: 95d59553e65c6e820bbabfb241617094 (MD5)Made available in DSpace on 2021-09-09T15:11:06Z (GMT). No. of bitstreams: 1 2018_ViniciusFerreiraNery_tcc.pdf: 4350325 bytes, checksum: 95d59553e65c6e820bbabfb241617094 (MD5)Recent literature suggests that circular statistics presents itself as a powerful tool in filtering algorithms that involve angular quantities, allowing a correct treatment of their distributions. In this context, this work aims to provide a performance analysis of a circular statistics based filter algorithm for indoor pedestrian tracking. The measurements for the localization scheme are provided by low cost sensors based on direction of arrival (DOA) techniques. Hence, a correct treatment to the uncertainty of the measurements will be addressed. Simulation experiments carried out in MATLAB indicate that the presented filter outperforms EKF and UKF approaches when the uncertainty is high. Therefore, results inspire the use of the presented filter for physical implementations.A concessão da licença deste item refere-se ao termo de autorização impresso assinado pelo autor que autoriza a Biblioteca Digital da Produção Intelectual Discente da Universidade de Brasília (BDM) a disponibilizar o trabalho de conclusão de curso por meio do sítio bdm.unb.br, com as seguintes condições: disponível sob Licença Creative Commons 4.0 International, que permite copiar, distribuir e transmitir o trabalho, desde que seja citado o autor e licenciante. Não permite o uso para fins comerciais nem a adaptação desta.info:eu-repo/semantics/openAccessEstatística circularRastreamento indoorAlgoritmos de filtragemPerformance analysis of a circular statistics based filter for pedestrian indoor tracking with bearings only measurements provided by low cost sensorsinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/bachelorThesis2021-09-09T15:11:06Z2021-09-09T15:11:06Z2018-12-13porreponame:Biblioteca Digital de Monografias da UnBinstname:Universidade de Brasília (UnB)instacron:UNBLICENSElicense.txtlicense.txttext/plain1817http://bdm.unb.br/xmlui/bitstream/10483/28493/2/license.txt21554873e56ad8ddc69c092699b98f95MD52ORIGINAL2018_ViniciusFerreiraNery_tcc.pdf2018_ViniciusFerreiraNery_tcc.pdfapplication/pdf4350325http://bdm.unb.br/xmlui/bitstream/10483/28493/1/2018_ViniciusFerreiraNery_tcc.pdf95d59553e65c6e820bbabfb241617094MD5110483/284932021-09-09 12:11:06.708oai:bdm.unb.br:10483/28493w4kgbmVjZXNzw6FyaW8gY29uY29yZGFyIGNvbSBhIGxpY2Vuw6dhIGRlIGRpc3RyaWJ1acOnw6NvIG7Do28tZXhjbHVzaXZhLAphbnRlcyBxdWUgbyBkb2N1bWVudG8gcG9zc2EgYXBhcmVjZXIgbmEgQmlibGlvdGVjYSBEaWdpdGFsIGRhIFByb2R1w6fDo28gCkRpc2NlbnRlIGRhIFVuaXZlcnNpZGFkZSBkZSBCcmFzw61saWEuIFBvciBmYXZvciwgbGVpYSBhCmxpY2Vuw6dhIGF0ZW50YW1lbnRlLiBDYXNvIG5lY2Vzc2l0ZSBkZSBhbGd1bSBlc2NsYXJlY2ltZW50byBlbnRyZSBlbQpjb250YXRvIGF0cmF2w6lzIGRlOiBiZG1AYmNlLnVuYi5iciBvdSAzMTA3LTI2ODcuCgpMSUNFTsOHQSBERSBESVNUUklCVUnDh8ODTyBOw4NPLUVYQ0xVU0lWQQoKQW8gYXNzaW5hciBlIGVudHJlZ2FyIGVzdGEgbGljZW7Dp2EsIG8vYSBTci4vU3JhLiAoYXV0b3Igb3UgZGV0ZW50b3IgZG9zCmRpcmVpdG9zIGRlIGF1dG9yKToKCmEpIENvbmNlZGUgw6AgVW5pdmVyc2lkYWRlIGRlIEJyYXPDrWxpYSBvIGRpcmVpdG8gbsOjby1leGNsdXNpdm8gZGUKcmVwcm9kdXppciwgY29udmVydGVyIChjb21vIGRlZmluaWRvIGFiYWl4byksIGNvbXVuaWNhciBlL291CmRpc3RyaWJ1aXIgbyBkb2N1bWVudG8gZW50cmVndWUgKGluY2x1aW5kbyBvIHJlc3Vtby9hYnN0cmFjdCkgZW0KZm9ybWF0byBkaWdpdGFsIG91IGltcHJlc3NvIGUgZW0gcXVhbHF1ZXIgbWVpby4KCmIpIERlY2xhcmEgcXVlIG8gZG9jdW1lbnRvIGVudHJlZ3VlIMOpIHNldSB0cmFiYWxobyBvcmlnaW5hbCwgZSBxdWUKZGV0w6ltIG8gZGlyZWl0byBkZSBjb25jZWRlciBvcyBkaXJlaXRvcyBjb250aWRvcyBuZXN0YSBsaWNlbsOnYS4gRGVjbGFyYQp0YW1iw6ltIHF1ZSBhIGVudHJlZ2EgZG8gZG9jdW1lbnRvIG7Do28gaW5mcmluZ2UsIHRhbnRvIHF1YW50byBsaGUgw6kKcG9zc8OtdmVsIHNhYmVyLCBvcyBkaXJlaXRvcyBkZSBxdWFscXVlciBvdXRyYSBwZXNzb2Egb3UgZW50aWRhZGUuCgpjKSBTZSBvIGRvY3VtZW50byBlbnRyZWd1ZSBjb250w6ltIG1hdGVyaWFsIGRvIHF1YWwgbsOjbyBkZXTDqW0gb3MKZGlyZWl0b3MgZGUgYXV0b3IsIGRlY2xhcmEgcXVlIG9idGV2ZSBhdXRvcml6YcOnw6NvIGRvIGRldGVudG9yIGRvcwpkaXJlaXRvcyBkZSBhdXRvciBwYXJhIGNvbmNlZGVyIMOgIFVuaXZlcnNpZGFkZSBkZSBCcmFzw61saWEgb3MgZGlyZWl0b3MKcmVxdWVyaWRvcyBwb3IgZXN0YSBsaWNlbsOnYSwgZSBxdWUgZXNzZSBtYXRlcmlhbCBjdWpvcyBkaXJlaXRvcyBzw6NvIGRlCnRlcmNlaXJvcyBlc3TDoSBjbGFyYW1lbnRlIGlkZW50aWZpY2FkbyBlIHJlY29uaGVjaWRvIG5vIHRleHRvIG91CmNvbnRlw7pkbyBkbyBkb2N1bWVudG8gZW50cmVndWUuCgpTZSBvIGRvY3VtZW50byBlbnRyZWd1ZSDDqSBiYXNlYWRvIGVtIHRyYWJhbGhvIGZpbmFuY2lhZG8gb3UgYXBvaWFkbwpwb3Igb3V0cmEgaW5zdGl0dWnDp8OjbyBxdWUgbsOjbyBhIFVuaXZlcnNpZGFkZSBkZSBCcmFzw61saWEsIGRlY2xhcmEgcXVlCmN1bXByaXUgcXVhaXNxdWVyIG9icmlnYcOnw7VlcyBleGlnaWRhcyBwZWxvIHJlc3BlY3Rpdm8gY29udHJhdG8gb3UKYWNvcmRvLgoKQSBVbml2ZXJzaWRhZGUgZGUgQnJhc8OtbGlhIGlkZW50aWZpY2Fyw6EgY2xhcmFtZW50ZSBvKHMpIHNldSAocykgbm9tZSAocykKY29tbyBvIChzKSBhdXRvciAoZXMpIG91IGRldGVudG9yIChlcykgZG9zIGRpcmVpdG9zIGRvIGRvY3VtZW50bwplbnRyZWd1ZSwgZSBuw6NvIGZhcsOhIHF1YWxxdWVyIGFsdGVyYcOnw6NvLCBwYXJhIGFsw6ltIGRhcyBwZXJtaXRpZGFzIHBvcgplc3RhIGxpY2Vuw6dhLgo=Biblioteca Digital de Monografiahttps://bdm.unb.br/PUBhttp://bdm.unb.br/oai/requestbdm@bce.unb.br||patricia@bce.unb.bropendoar:115712021-09-09T15:11:06Biblioteca Digital de Monografias da UnB - Universidade de Brasília (UnB)false
dc.title.pt_BR.fl_str_mv Performance analysis of a circular statistics based filter for pedestrian indoor tracking with bearings only measurements provided by low cost sensors
title Performance analysis of a circular statistics based filter for pedestrian indoor tracking with bearings only measurements provided by low cost sensors
spellingShingle Performance analysis of a circular statistics based filter for pedestrian indoor tracking with bearings only measurements provided by low cost sensors
Nery, Vinícius Ferreira
Estatística circular
Rastreamento indoor
Algoritmos de filtragem
title_short Performance analysis of a circular statistics based filter for pedestrian indoor tracking with bearings only measurements provided by low cost sensors
title_full Performance analysis of a circular statistics based filter for pedestrian indoor tracking with bearings only measurements provided by low cost sensors
title_fullStr Performance analysis of a circular statistics based filter for pedestrian indoor tracking with bearings only measurements provided by low cost sensors
title_full_unstemmed Performance analysis of a circular statistics based filter for pedestrian indoor tracking with bearings only measurements provided by low cost sensors
title_sort Performance analysis of a circular statistics based filter for pedestrian indoor tracking with bearings only measurements provided by low cost sensors
author Nery, Vinícius Ferreira
author_facet Nery, Vinícius Ferreira
author_role author
dc.contributor.author.fl_str_mv Nery, Vinícius Ferreira
dc.contributor.advisor1.fl_str_mv Ishihara, João Yoshiyuki
contributor_str_mv Ishihara, João Yoshiyuki
dc.subject.keyword.pt_BR.fl_str_mv Estatística circular
Rastreamento indoor
Algoritmos de filtragem
topic Estatística circular
Rastreamento indoor
Algoritmos de filtragem
description Trabalho de Conclusão de Curso (graduação)—Universidade de Brasília, Faculdade de Tecnologia, Departamento de Engenharia Elétrica, 2018.
publishDate 2018
dc.date.submitted.none.fl_str_mv 2018-12-13
dc.date.accessioned.fl_str_mv 2021-09-09T15:11:06Z
dc.date.available.fl_str_mv 2021-09-09T15:11:06Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/bachelorThesis
format bachelorThesis
status_str publishedVersion
dc.identifier.citation.fl_str_mv NERY, Vinícius Ferreira. Performance analysis of a circular statistics based filter for pedestrian indoor tracking with bearings only measurements provided by low cost sensors. 2018. vii, 55 f., il. Trabalho de Conclusão de Curso (Bacharelado em Engenharia Elétrica)—Universidade de Brasília, Brasília, 2018.
dc.identifier.uri.fl_str_mv https://bdm.unb.br/handle/10483/28493
identifier_str_mv NERY, Vinícius Ferreira. Performance analysis of a circular statistics based filter for pedestrian indoor tracking with bearings only measurements provided by low cost sensors. 2018. vii, 55 f., il. Trabalho de Conclusão de Curso (Bacharelado em Engenharia Elétrica)—Universidade de Brasília, Brasília, 2018.
url https://bdm.unb.br/handle/10483/28493
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dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
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