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Nilsson, John-Olof
Publications (10 of 35) Show all publications
Pasku, V., De Angelis, A., Moschitta, A., Carbone, P., Nilsson, J.-O., Dwivedi, S. & Händel, P. (2017). A Magnetic Ranging-Aided Dead-Reckoning Positioning System for Pedestrian Applications. Paper presented at IEEE International Instrumentation and Measurement Technology Conference (I2MTC), MAY 23-26, 2016, Taipei, TAIWAN. IEEE Transactions on Instrumentation and Measurement, 66(5), 953-963
Open this publication in new window or tab >>A Magnetic Ranging-Aided Dead-Reckoning Positioning System for Pedestrian Applications
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2017 (English)In: IEEE Transactions on Instrumentation and Measurement, ISSN 0018-9456, E-ISSN 1557-9662, Vol. 66, no 5, p. 953-963Article in journal (Refereed) Published
Abstract [en]

This paper investigates the applicability of a developed Magnetic Positioning System (MPS) as a support for a dead-reckoning inertial navigation system (DR-INS) for pedestrian applications. The integrated system combines the complementary properties of the separate systems, operating over long periods of time and in cluttered indoor areas with partial nonline-of-sight conditions. The obtained results show that the proposed approach can effectively improve the coverage area of the MPS and the operation time with bounded errors of the DR-INS. In particular, a solution that provides bounded position errors of 1-2 m over significantly long periods of time up to 45 min, in realistic indoor environments, is demonstrated. Moreover, system applicability is also shown in those scenarios where arbitrary orientations of the MPS mobile node are considered and an MPS position estimate is not available due to less than three distance measurements.

Place, publisher, year, edition, pages
IEEE, 2017
Keywords
Dead reckoning (DR), indoor positioning, inertial navigation, magnetic fields, range measurement, resonators
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
urn:nbn:se:kth:diva-208236 (URN)10.1109/TIM.2017.2649918 (DOI)000399246000012 ()2-s2.0-85011295568 (Scopus ID)
Conference
IEEE International Instrumentation and Measurement Technology Conference (I2MTC), MAY 23-26, 2016, Taipei, TAIWAN
Funder
VINNOVA
Note

QC 20170628

Available from: 2017-06-28 Created: 2017-06-28 Last updated: 2022-06-27Bibliographically approved
Pasku, V., De Angelis, A., Moschitta, A., Carbone, P., Nilsson, J.-O., Dwivedi, S. & Händel, P. (2016). A Magnetic Ranging Aided Dead-Reckoning Indoor Positioning System for Pedestrian Applications. In: 2016 IEEE INTERNATIONAL INSTRUMENTATION AND MEASUREMENT TECHNOLOGY CONFERENCE PROCEEDINGS: . Paper presented at IEEE International Instrumentation and Measurement Technology Conference (I2MTC), MAY 23-26, 2016, Taipei, TAIWAN (pp. 1526-1531). IEEE conference proceedings
Open this publication in new window or tab >>A Magnetic Ranging Aided Dead-Reckoning Indoor Positioning System for Pedestrian Applications
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2016 (English)In: 2016 IEEE INTERNATIONAL INSTRUMENTATION AND MEASUREMENT TECHNOLOGY CONFERENCE PROCEEDINGS, IEEE conference proceedings, 2016, p. 1526-1531Conference paper, Published paper (Refereed)
Abstract [en]

This paper investigates the applicability of a developed magnetic ranging and positioning system (MPS) as a support for a dead reckoning inertial navigation system for pedestrian applications. The integrated system combines the complementary properties of the separate systems, operating over long periods of time and in cluttered indoor areas with partial non-line-of-sight conditions. The obtained results show that the proposed approach can effectively improve the coverage area of the MPS and the operation time with bounded errors of the dead reckoning based system.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2016
Keywords
Indoor positioning, inertial navigation, dead reckoning, magnetic fields, resonators, range measurement
National Category
Embedded Systems
Identifiers
urn:nbn:se:kth:diva-193853 (URN)10.1109/I2MTC.2016.7520597 (DOI)000382523600268 ()2-s2.0-84980378631 (Scopus ID)978-1-4673-9220-4 (ISBN)
Conference
IEEE International Instrumentation and Measurement Technology Conference (I2MTC), MAY 23-26, 2016, Taipei, TAIWAN
Note

QC 20161017

Available from: 2016-10-17 Created: 2016-10-11 Last updated: 2024-03-15Bibliographically approved
Nilsson, J.-O. & Skog, I. (2016). Inertial Sensor Arrays - A Literature Review. In: 2016 EUROPEAN NAVIGATION CONFERENCE (ENC): . Paper presented at European Navigation Conference (ENC), MAY 30-JUN 02, 2016, HELSINKI, FINLAND. IEEE
Open this publication in new window or tab >>Inertial Sensor Arrays - A Literature Review
2016 (English)In: 2016 EUROPEAN NAVIGATION CONFERENCE (ENC), IEEE, 2016Conference paper, Published paper (Refereed)
Abstract [en]

Inertial sensor arrays present the possibility of improved and extended sensing capabilities as compared to customary inertial sensor setups. Inertial sensor arrays have been studied since the 1960s and have recently received a renewed interest, mainly thanks to the ubiquitous micro-electromechanical (MEMS) inertial sensors. However, the number of variants and features of inertial sensor arrays and their disparate applications makes the literature spread out. Therefore, in this paper we provide a brief summary and literature review on the topic of inertial sensor arrays. Publications are categorized and presented in a structured way; references to +300 publications are provide. Finally, an outlook on the main research challenges and opportunities related to inertial sensor arrays is given.

Place, publisher, year, edition, pages
IEEE, 2016
National Category
Remote Sensing
Identifiers
urn:nbn:se:kth:diva-200779 (URN)10.1109/EURONAV.2016.7530551 (DOI)000391255800014 ()2-s2.0-84992107932 (Scopus ID)978-1-4799-8915-7 (ISBN)
Conference
European Navigation Conference (ENC), MAY 30-JUN 02, 2016, HELSINKI, FINLAND
Note

QC 20170206

Available from: 2017-02-06 Created: 2017-02-02 Last updated: 2022-06-27Bibliographically approved
Skog, I., Nilsson, J.-O., Handel, P. & Nehorai, A. (2016). Inertial Sensor Arrays, Maximum Likelihood, and Cramer-Rao Bound. IEEE Transactions on Signal Processing, 64(16), 4218-4227
Open this publication in new window or tab >>Inertial Sensor Arrays, Maximum Likelihood, and Cramer-Rao Bound
2016 (English)In: IEEE Transactions on Signal Processing, ISSN 1053-587X, E-ISSN 1941-0476, Vol. 64, no 16, p. 4218-4227Article in journal (Refereed) Published
Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2016
National Category
Energy Engineering
Identifiers
urn:nbn:se:kth:diva-191369 (URN)10.1109/TSP.2016.2560136 (DOI)000380117400010 ()2-s2.0-84980322505 (Scopus ID)
External cooperation:
Note

QC 20160907

Available from: 2016-09-07 Created: 2016-08-30 Last updated: 2024-03-15Bibliographically approved
Rantakokko, J., Nygards, J., Strömbäck, P., Andersson, P., Nilsson, J. O. & Händel, P. (2016). Integration of GNSS-receivers with dual foot-mounted INS in urban and indoor environments. In: Proceedings of the IEEE/ION Position, Location and Navigation Symposium, PLANS 2016: . Paper presented at IEEE/ION Position, Location and Navigation Symposium, PLANS 2016, Hyatt Regency Savannah, Georgia, 11 April 2016 through 14 April 2016 (pp. 589-598). Institute of Electrical and Electronics Engineers (IEEE)
Open this publication in new window or tab >>Integration of GNSS-receivers with dual foot-mounted INS in urban and indoor environments
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2016 (English)In: Proceedings of the IEEE/ION Position, Location and Navigation Symposium, PLANS 2016, Institute of Electrical and Electronics Engineers (IEEE), 2016, p. 589-598Conference paper, Published paper (Refereed)
Abstract [en]

In safety-critical applications, including firefighter and law enforcement operations, infrastructure-free localization systems are typically required. These systems must provide accurate localization in all scenarios. Seamless indoor and outdoor localization and navigation, including in dense urban environments, are needed. Multi-sensor fusion algorithms constitute an integral part in all state-of-the-art indoor positioning systems. GNSS-receivers typically provide poor estimates of their own position uncertainty in dense urban and indoor environments, where significant position errors can be expected, which makes the design of a robust sensor fusion algorithm a challenge. Sensor fusion strategies for integration of a GNSS-receiver with foot-mounted inertial navigation systems (INS) are described and evaluated in this work. For a loosely coupled integration strategy, we suggest to use a cut-off criteria that governs when to discard the GNSS-positions and demonstrate that it can improve the position and heading accuracy in outdoor/indoor transition regions. Similarly, for a tightly coupled integration strategy, we suggest an approach with heavy-tailed measurement noise and demonstrate its capability to suppress inconsistent data and improve performance in the same regions.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2016
Keywords
Foot-mounted INS, GNSS, Infrastructure-free localization, outdoor-indoor transitions, Sensor fusion
National Category
Signal Processing
Identifiers
urn:nbn:se:kth:diva-194575 (URN)10.1109/PLANS.2016.7479750 (DOI)000389021800077 ()2-s2.0-84978524984 (Scopus ID)
Conference
IEEE/ION Position, Location and Navigation Symposium, PLANS 2016, Hyatt Regency Savannah, Georgia, 11 April 2016 through 14 April 2016
Note

QC 20161031

Available from: 2016-10-31 Created: 2016-10-31 Last updated: 2024-03-15Bibliographically approved
Skog, I., Nilsson, J.-O., Händel, P. & Nehorai, A. (2015). Arrays of single-chip IMUs. In: Proc. International Conference on Indoor Positioning and Indoor Navigation (IPIN): . Paper presented at 2015 International Conference on Indoor Positioning and Indoor Navigation (IPIN 2015),October 13-16 2015, Alberta, Canada. Calgary, Canada: University of Calgary
Open this publication in new window or tab >>Arrays of single-chip IMUs
2015 (English)In: Proc. International Conference on Indoor Positioning and Indoor Navigation (IPIN), Calgary, Canada: University of Calgary , 2015Conference paper, Poster (with or without abstract) (Refereed)
Abstract [en]

The development of ultralow-cost single-chip IMUs nowmake it feasible to construct massive IMU arrays. Such arrays giveproperties not attainable by single IMUs. Specifically, non-colocatedaccelerometers provide rotational information with complementary char-acteristics to that provided by the gyroscopes. In this poster we reviewthe signal model of multi-IMU systems and present experimental resultsfrom an in-house developed IMU array.

Place, publisher, year, edition, pages
Calgary, Canada: University of Calgary, 2015
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
urn:nbn:se:kth:diva-183083 (URN)
Conference
2015 International Conference on Indoor Positioning and Indoor Navigation (IPIN 2015),October 13-16 2015, Alberta, Canada
Note

QC 20160617

Available from: 2016-02-27 Created: 2016-02-27 Last updated: 2024-03-15Bibliographically approved
Nilsson, J.-O., Rantakokko, J., Händel, P., Skog, I., Ohlsson, M. & Hari, K. (2014). Accurate Indoor Positioning of Firefighters using Dual Foot-mounted Inertial Sensors and Inter-agent Ranging. In: Proceedings of the Position, Location and Navigation Symposium (PLANS), 2014 IEEE/ION: . Paper presented at Position, Location and Navigation Symposium, 05 May - 08 May 2014,USA.
Open this publication in new window or tab >>Accurate Indoor Positioning of Firefighters using Dual Foot-mounted Inertial Sensors and Inter-agent Ranging
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2014 (English)In: Proceedings of the Position, Location and Navigation Symposium (PLANS), 2014 IEEE/ION, 2014Conference paper, Published paper (Refereed)
Abstract [en]

A real-time cooperative localization system,utilizing dual foot-mounted low-cost inertial sensors and RFbasedinter-agent ranging, has been developed. Scenario-basedtests have been performed, using fully-equipped firefightersmimicking a search operation in a partly smoke-filledenvironment, to evaluate the performance of the TOR (TacticallOcatoR) system. The performed tests included realisticfirefighter movements and inter-agent distances, factors that arecrucial in order to provide realistic evaluations of the expectedperformance in real-world operations. The tests indicate that theTOR system may be able to provide a position accuracy ofapproximately two to three meters during realistic firefighteroperations, with only two smoke diving firefighters and onesupervising firefighter within range.

Keywords
Firefighter, localization, foot-mounted INS, ranging, cooperative localization
National Category
Signal Processing
Identifiers
urn:nbn:se:kth:diva-145354 (URN)10.1109/PLANS.2014.6851424 (DOI)000359380700075 ()2-s2.0-84905032801 (Scopus ID)978-147993320-4 (ISBN)
Conference
Position, Location and Navigation Symposium, 05 May - 08 May 2014,USA
Note

QC 20140619

Available from: 2014-05-19 Created: 2014-05-19 Last updated: 2024-03-15Bibliographically approved
Nilsson, J.-O., Skog, I. & Händel, P. (2014). Aligning the Forces-Eliminating the Misalignments in IMU Arrays. IEEE Transactions on Instrumentation and Measurement, 63(10), 2498-2500
Open this publication in new window or tab >>Aligning the Forces-Eliminating the Misalignments in IMU Arrays
2014 (English)In: IEEE Transactions on Instrumentation and Measurement, ISSN 0018-9456, E-ISSN 1557-9662, Vol. 63, no 10, p. 2498-2500Article in journal (Refereed) Published
Abstract [en]

Ultralow-cost single-chip inertial measurement units (IMUs) combined into IMU arrays are opening up new possibilities for inertial sensing. However, to make these systems practical for researchers, a simple calibration procedure that aligns the sensitivity axes of the sensors in the array is needed. In this paper, we suggest a novel mechanical-rotation-rig-free calibration procedure based on blind system identification and a Platonic solid printable using a contemporary 3-D printer. The IMU array is placed inside the Platonic solid, and static measurements are taken with the solid subsequently placed on all sides. The recorded data are then used together with a maximum-likelihood-based approach to estimate the interIMU misalignment and the gain, bias, and sensitivity axis nonorthogonality of the accelerometers. The effectiveness of the method is demonstrated with calibration results from an in-house developed IMU array. MATLAB scripts for the parameter estimation and production files for the calibration device (solid) are provided.

Keywords
Accelerometers, calibration, gyroscopes, inertial navigation, maximum likelihood estimation, sensor array
National Category
Signal Processing
Identifiers
urn:nbn:se:kth:diva-154751 (URN)10.1109/TIM.2014.2344332 (DOI)000342419800022 ()2-s2.0-84907454865 (Scopus ID)
Note

QC 20141113

Available from: 2014-11-13 Created: 2014-10-27 Last updated: 2024-03-15Bibliographically approved
Skog, I., Nilsson, J. O. & Händel, P. (2014). An open-source multi inertial measurement unit (MIMU) platform. In: 1st IEEE International Symposium on Inertial Sensors and Systems, ISISS 2014 - Proceedings: . Paper presented at 1st IEEE International Symposium on Inertial Sensors and Systems, ISISS 2014; Laguna Beach, CA; United States; 25 February 2014 through 26 February 2014. IEEE Computer Society
Open this publication in new window or tab >>An open-source multi inertial measurement unit (MIMU) platform
2014 (English)In: 1st IEEE International Symposium on Inertial Sensors and Systems, ISISS 2014 - Proceedings, IEEE Computer Society, 2014Conference paper, Published paper (Refereed)
Abstract [en]

An open-source low-cost multi inertial measurement unit (MIMU) systems platform is presented. First, the layout and system architecture of the platform, as well as the novel communication interface used to simultaneously communicate with the 18 IMUs in the platform are described. Thereafter, the potential gains of using a MIMU system are described and discussed. Finally, the error characteristics of the platform, when stationary, are illustrated using Allan variance plots.

Place, publisher, year, edition, pages
IEEE Computer Society, 2014
Keywords
Inertial navigation systems, Allan variance, Communication interface, Error characteristics, Inertial measurement unit, Open-source, System architectures
National Category
Signal Processing
Identifiers
urn:nbn:se:kth:diva-145484 (URN)10.1109/ISISS.2014.6782523 (DOI)000350816000025 ()2-s2.0-84899081692 (Scopus ID)
Conference
1st IEEE International Symposium on Inertial Sensors and Systems, ISISS 2014; Laguna Beach, CA; United States; 25 February 2014 through 26 February 2014
Note

QC 20140612

Available from: 2014-06-12 Created: 2014-05-21 Last updated: 2024-03-15Bibliographically approved
Kristensen, J. & Nilsson, J.-O. (2014). Fast triangular binning kernel approximations for weighted gradient histogram creation. In: 2014 IEEE International Conference on Electronics, Computing and Communication Technologies (IEEE CONECCT): . Paper presented at 2014 IEEE International Conference on Electronics, Computing and Communication Technologies, IEEE CONECCT 2014; Bangalore; India; 6 January 2014 through 7 January 2014 (pp. 6740351).
Open this publication in new window or tab >>Fast triangular binning kernel approximations for weighted gradient histogram creation
2014 (English)In: 2014 IEEE International Conference on Electronics, Computing and Communication Technologies (IEEE CONECCT), 2014, p. 6740351-Conference paper, Published paper (Refereed)
Abstract [en]

The implementation of weighted gradient histograms are studied. Such histograms are commonly used in computer vision methods, and their creation can make up a significant portion of the computational cost. Further, due to potentially severe aliasing, non-uniform binning kernels are desirable. We show that previously presented fast methods for uniform binning kernels can be extended to non-uniform binning, and that the triangular kernel can be well approximated for common weighting strategies. The approximation is implemented with sums and products of projections of the gradient samples on specially chosen vectors. Consequently, only a few standard arithmetic operations are required, and therefore, the suggested implementation has a significantly lower computational cost when compared with an implementation in which the gradient argument and magnitude are explicitly evaluated. Finally, the frequency components of the different kernels are studied to quantify the fundamental gain achieved by using triangular kernels instead of uniform kernels.

Keywords
Arithmetic operations, Computational costs, Fast methods, Frequency components, Gradient histograms, Kernel approximation, Non-uniform, Weighting strategies, Communication systems, Computer vision, Statistical methods
National Category
Signal Processing
Identifiers
urn:nbn:se:kth:diva-136275 (URN)10.1109/CONECCT.2014.6740351 (DOI)000349779700066 ()2-s2.0-84900674987 (Scopus ID)978-1-4799-2318-2 (ISBN)
Conference
2014 IEEE International Conference on Electronics, Computing and Communication Technologies, IEEE CONECCT 2014; Bangalore; India; 6 January 2014 through 7 January 2014
Note

QC 20140225

Available from: 2013-12-04 Created: 2013-12-04 Last updated: 2024-03-15Bibliographically approved
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