3-D Fadings Structure Analysis in Straight Tunnels Toward Communication, Localization, and Navigation

Rizzo, Carlos; Lera, F.; Villarroel, José Luis

doi:10.1109/tap.2019.2925068

Cited by 9 publications

(10 citation statements)

References 40 publications

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“…However, the practical analysis presented in Appendix B shows that the localization algorithms would be viable not only in ideal waveguides but also in a wide range of real world pipes with slight to moderate defects and cracks, suffering from local deformations. At last, for different materials such as concrete, the method is still applicable although the suitable frequencies and mode shape considerations would differ, this being beyond the scope of this study (see [26] for an analogy in concrete horseshoe shaped tunnels).…”

Section: Practical Approach and Lessons Learnedmentioning

confidence: 99%

An alternative approach for robot localization inside pipes using RF spatial fadings

Rizzo

Seco

Espelosín

et al. 2021

Robotics and Autonomous Systems

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Section: Practical Approach and Lessons Learnedmentioning

confidence: 99%

An alternative approach for robot localization inside pipes using RF spatial fadings

Rizzo

Seco

Espelosín

et al. 2021

Robotics and Autonomous Systems

Self Cite

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“…However, the occurrence of such fadings can be controlled. In [ 1 ], the authors developed an extensive analysis to determine the most adequate transceiver-receiver configurations (i.e., position in the tunnel cross-section and operating frequency) to obtain periodic fadings. Reference [ 2 ] drafted the first proposal to take advantage of the useful periodic nature of fadings to develop an RF-based discrete localization method.…”

Section: Introductionmentioning

confidence: 99%

Robot Localization in Tunnels: Combining Discrete Features in a Pose Graph Framework

Seco

Lázaro

Espelosín

et al. 2022

Sensors

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Robot localization inside tunnels is a challenging task due to the special conditions of these environments. The GPS-denied nature of these scenarios, coupled with the low visibility, slippery and irregular surfaces, and lack of distinguishable visual and structural features, make traditional robotics methods based on cameras, lasers, or wheel encoders unreliable. Fortunately, tunnels provide other types of valuable information that can be used for localization purposes. On the one hand, radio frequency signal propagation in these types of scenarios shows a predictable periodic structure (periodic fadings) under certain settings, and on the other hand, tunnels present structural characteristics (e.g., galleries, emergency shelters) that must comply with safety regulations. The solution presented in this paper consists of detecting both types of features to be introduced as discrete sources of information in an alternative graph-based localization approach. The results obtained from experiments conducted in a real tunnel demonstrate the validity and suitability of the proposed system for inspection applications.

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“…There has been a huge effort in terms of accurate mathematical modeling and measuring campaigns to predict radio wave propagation in tunnels to ensure the good quality of communication links and increase the channel capacity. These are useful for vehicular networks, train applications, and even service and surveillance missions in both military and civilian contexts [ 4 , 5 , 6 , 7 , 8 ]. Deterministic channel models for tunnels include waveguide models, ray tracing models, and numerical methods for solving Maxwell’s equations in tunnel environments [ 9 ].…”

Section: Introductionmentioning

confidence: 99%

“…According to [ 22 ], when traveling at 100 km/h, the dead-reckoning system can estimate the vehicle’s location for less than 30 s with an error bound of 10 m. Radar technology, camera systems, laser scanners, and odometer sensors are also mentioned in different studies [ 23 ]. However, because of noise and errors in sensors data, limited performance in environments with low visibility, high cost, line of sight requirements between anchors and agents, environmental pollution with radar signal, cumulative errors, etc., the accuracy of the estimated position degrades the longer the estimation runs [ 4 , 21 , 24 ].…”

Section: Introductionmentioning

confidence: 99%

Vehicle Localization Using Doppler Shift and Time of Arrival Measurements in a Tunnel Environment

Halili

BniLam

Yusuf

et al. 2022

Sensors

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Most applications and services of Cooperative Intelligent Transport Systems (C-ITS) rely on accurate and continuous vehicle location information. The traditional localization method based on the Global Navigation Satellite System (GNSS) is the most commonly used. However, it does not provide reliable, continuous, and accurate positioning in all scenarios, such as tunnels. Therefore, in this work, we present an algorithm that exploits the existing Vehicle-to-Infrastructure (V2I) communication channel that operates within the LTE-V frequency band to acquire in-tunnel vehicle location information. We propose a novel solution for vehicle localization based on Doppler shift and Time of Arrival measurements. Measurements performed in the Beveren tunnel in Antwerp, Belgium, are used to obtain results. A comparison between estimated positions using Extended Kalman Filter (EKF) on Doppler shift measurements and individual Kalman Filter (KF) on Doppler shift and Time of Arrival measurements is carried out to analyze the filtering methods performance. Findings show that the EKF performs better than KF, reducing the average estimation error by 10 m, while the algorithm accuracy depends on the relevant RF channel propagation conditions and other in-tunnel-related environment knowledge included in the estimation. The proposed solution can be used for monitoring the position and speed of vehicles driving in tunnel environments.

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3-D Fadings Structure Analysis in Straight Tunnels Toward Communication, Localization, and Navigation

Cited by 9 publications

References 40 publications

An alternative approach for robot localization inside pipes using RF spatial fadings

An alternative approach for robot localization inside pipes using RF spatial fadings

Robot Localization in Tunnels: Combining Discrete Features in a Pose Graph Framework

Vehicle Localization Using Doppler Shift and Time of Arrival Measurements in a Tunnel Environment

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