The aim of this thesis is to write a multisensor navigation algorithm and to design a test setup. After doing these, test the algorithm by using the test setup. In navigation, dead reckoning is a procedure to calculate the position from initial position with some measured inputs. These measurements do not include absolute position data. Using only an inertial measurement unit is an example for dead reckoning navigation. Calculating position and velocity with the inertial measurement unit is highly erroneous because, this calculation requires integration of acceleration data. Integration means accumulation of errors as time goes. For example, a constant acceleration error of 0.1 m/s^2 on 1 m/s^2 of acceleration will lead to 10% of position error in only 5 seconds. In addition to this, wrong calculation of attitude is going to blow the accumulated position errors. However, solving the navigation equations while knowing the initial position and the IMU readings is possible, the IMU is not used solely in practice. In literature, there are studies about this topic and in these studies / some other sensors aid the navigation calculations. The aiding or fusion of sensors is accomplished via Kalman filter. In this thesis, a navigation algorithm and a sensor fusion algorithm were written. The sensor fusion algorithm is based on estimation of IMU errors by use of a Kalman filter. The design of Kalman filter is possible after deriving the mathematical model of error propagation of mechanization equations. For the sensor fusion, an IMU, two incremental encoders and a digital compass were utilized. The digital compass outputs the orientation data directly (without integration). In order to find the position, encoder data is calculated in dead reckoning sense. The sensor triplet aids the IMU which calculates position data by integrations. In order to mount these four sensors, an unmanned tracked vehicle prototype was manufactured. For data acquisition, an xPC&ndash / Target system was set. After planning the test procedure, the tests were performed. In the tests, different paths for different sensor fusion algorithms were experimented. The results were recorded in a computer and a number of figures were plotted in order to analyze the results. The results illustrate the benefit of sensor fusion and how much feedback sensor fusion is better than feed forward sensor fusion.

Innomhuspositioneringssystem kan med fördel användas i många olika tillämpningar, allt från sjukhus till shoppingcenter. Denna rapport behandlar olika tekniker och lösningar för att designa ett positioneringssystem. Rapporten tar även upp i detalj hur ett system kan konstrueras av ZigBee kombinerat med dödräkning.

Disertační práce je zaměřena na oblast inerciálních navigačních systémů a systémů, které pro odhad polohy používají pouze výpočty. Důležitým faktem v dané problematice je vysoká nepřesnost určení polohy při střednědobém a dlouhodobém využívání takového systému díky kumulativní chybě za předpokladu, že inerciální systém není podpořen žádným dalším přídavným systémem. V disertační práci jsou uvedeny možné přístupy k této problematice a návrh na zvýšení přesnosti určování polohy pouze na základě inerciálních senzorů. Základem inerciální měřicí jednotky je systém s 9 stupni volnosti, který umožňuje snímat celkové zrychlení, rychlost rotace a sílu magnetického pole, jednotlivě ve třech osách. Klíčovou myšlenkou je zařazení umělých neuronových sítí do navigačního systému tak, že jsou schopny rozpoznat charakteristické rysy pohybů, a tím zvýšit přesnost určení polohy. Popis navrhovaných metod zahrnuje analytický postup jejich vývoje a tam, kde je to možné, i analytické hodnocení jejich chování. Neuronové sítě jsou navrhovány v prostředí MATLABTM a jsou používány k určení stavu inerciální jednotky. Díky implementaci neuronových sítí lze určit pozici jednotky s řádově vyšší přesností. Aby byl inerciální polohovací systém s možností využití neuronových sítí demonstrativní, byla vyvinuta aplikace v prostředí Qt. Navržený systém a neuronové sítě byly použity při vyhodnocování reálných dat měřených senzory.

Force est de constater aujourd’hui que la localisation d’un bien ou d’une personne est devenue une nécessité. Plusieurs solutions existent en extérieur, largement dominées par le système GPS. Pour la localisation en intérieur, la précision se dégrade en raison des trajets multiples et de l’atténuation des signaux traversant les murs. Cette thèse se focalise sur la problématique de localisation à l’intérieur d’un bâtiment en utilisant les technologies présentes dans des smartphones et des tablettes fonctionnant sous le système d’exploitation Android disponible dans divers marques. Les systèmes de localisation en intérieur exploitent différents supports tels que les ondes radio-fréquence (RF) ou les capteurs inertiels embarqués dans un terminal. Dans le cas RF, ils utilisent des points références dont la répartition sur la zone couverte influe sur la performance en localisation. Une première contribution est un développement d’algorithme d’optimisation d’emplacement des balises basé sur le recuit simulé. Les signaux extraits des capteurs inertiels sont utilisés par la navigation pédestre à l’estime (NPE) pour déterminer le trajet effectué depuis une position connue. Ils dépendent de la sensibilité des paramètres intrinsèques de ces capteurs et ils sont corrompus par des bruits. Dans le cas NPE, une calibration permet d’obtenir des données exploitables pour l’estimation de l’orientation de déplacement et pour la détection des pas. Cette orientation est supposée identique à celle du terminal mais il y a un intérêt à prendre en compte le biais d’orientation entre les deux. Une autre contribution est une proposition d’algorithme de détection des pas exploitant la logique floue. / Nowadays, the localization of a device or person has become mandatory. If many solutions exist for outdoor environment, as the GPS one, any fails to provide an expected accuracy for indoor environment because of the multipath phenomena and the attenuation of signals crossing walls. This thesis focuses on the localization problem in buildings by using existed technologies in smartphones and tablets managed by Android OS - which is available in several brands. The indoor localization systems are using different technologies like radio-frequency (RF) waves or inertial sensors embedded in handsets. In the RF case, they use anchors or beacons, whose position impacts the localization performance for the covered zone. Our first contribution was the placement optimization of beacons using simulated annealing algorithm. Next to improve the localization performance, the inertial sensors, embedded in smartphones, have been used. The pedestrian dead reckoning (PDR) algorithm employs the extracted signals from the inertial sensors and determines the path done since a known position. These extracted signals are affected by the intrinsic parameters of sensors and they are corrupted by noises. The calibration of the sensors is compulsory to obtain data that could be used to estimate the walking orientation and the number of done steps by the user. It is often supposed that the walking orientation is the same as the smartphone orientation; however it might be interesting to consider the bias between these two orientations. A last contribution, in this thesis, consists on a proposed algorithm for step detection using fuzzy logic.

This thesis investigates designing and implementing a peer-to-peer (P2P) networking frameworkfor Unity, a popular game engine, intending to offer a scalable and efficient solution forconstructing networked multiplayer games. The research covers an analysis of a P2P networkarchitecture, transport layer protocols, challenges in NAT traversal, and peer list management.A framework is proposed, incorporating NAT traversal, remote procedural calls (RPC), synchronization variables (SyncVar), interest management (IM), and a lobby system. The framework’sperformance is evaluated through integration, network, and game performance tests. Resultsdemonstrate the framework’s capacity to accommodate up to 50 players, with a theoreticalmaximum of 200 players, but further optimization techniques could increase this limit. IMsolutions are suggested to improve scalability, rendering the framework a more viable optionfor MMOGs. Additionally, this thesis seeks to contribute to comprehending P2P networkingframework design and implementation for Unity while emphasizing potential directions forfuture research and how they should be optimized / Denna uppsats undersöker design och implementering av ett peer-to-peer (P2P) nätverksramverk för Unity, en populär spelmotor, med målet att erbjuda en skalbar och effektiv lösning för att bygga nätverksbaserade flerspelarspel. Uppsatsen omfattar en analys av P2P-nätverksarkitektur, transportlagerprotokoll, utmaningar vid NAT-Travesering och hantering av peerlistor. Ett ramverk som inkluderar NAT-Travesering, fjärrproceduranrop (RPC), synkroniseringsvariabler (SyncVar), Interest Management (IM) och ett lobby-system föreslås. Ramverkets prestanda utvärderas genom integrationstester, nätverksprestandatester och spel-prestandatester. Resultaten visar att ramverket kan hantera upp till 50 spelare, med en teoretisk maximal kapacitet på 200 spelare, men ytterligare optimiserings tekniker kan öka denna gränsen. IM-lösningar föreslås för att förbättra skalbarheten, vilket gör ramverket till ett bättre alternativ för MMOG. Dessutom syftar denna uppsats till att bidra till förståelsen för design och implementering av P2P-nätverksramverk för Unity, samtidigt som den betonar potentiella riktningar för framtida forskning och hur dessa ska kunna optimeras.

Today more and more different types of autonomous robots and vehicles are being developed. Most of these rely on the global positioning system and/or communication with other robots and vehicles to determine their global position. However, these are not viable options for the autonomous underwater vehicles (AUVs) of today since radio-waves does not travel well in water. Instead, various techniques for determining the AUVs position are used which comes with a margin of error. This thesis examines the problem of efficiently performing a local search within this margin of error with the objective of finding a docking-station or a bouy.To solve this problem research was made on the subject of search theory and how it previously has been applied in this context. What was found was that classical bayesian search theory had not been used very often in this context since it would require to much processing power to be a viable option in the embedded systems that is AUVs. Instead different heuristics were used to get solutions that still were viable for the situations in which they were used, even though they maybe wasn’t optimal.Based on this the search-strategies Spiral, Greedy, Look-ahead and Quadtree were developed and evaluated in a simulator. Their mean time to detection (MTTD) were compared as well as the average time it took for the strategies to process a search. Look-ahead was the best one of the four different strategies with respect to the MTTD and based on this it is suggested that it should be implemented and evaluated in a real AUV. / Idag utvecklas allt fler olika typer av autonoma robotar och fordon. De flesta av dessa är beroende av det globala positioneringssystemet och/eller kommunikation med andra robotar och fordon för att bestämma deras globala position. Detta är dock inte realistiska alternativ för autonoma undervattensfordon (AUV) idag eftersom radiovågor inte färdas bra i vatten. I stället används olika tekniker för att bestämma AUVens position, tekniker som ofta har en felmarginal. Denna rapport undersöker problemet med att effektivt utföra en lokal sökning inom denna felmarginal med målet att hitta en dockningsstation eller en boj.För att lösa detta problem gjordes en litteraturstudie om ämnet sökteori och hur det tidigare har tillämpats i detta sammanhang. Det som hittades var att den klassiska bayesiska sökteorin inte hade använts mycket ofta i detta sammanhang eftersom det skulle kräva för mycket processorkraft för att det skulle vara ett rimligt alternativ för de inbyggda systemen på en AUV. Istället användes olika heuristiska metoder för att få lösningar som fortfarande var dugliga för de situationer där de användes, även om de kanske inte var optimala.Baserat på detta utvecklades sökstrategierna Spiral, Greedy, Look-ahead och Quad-tree och utvärderades i en simulator. Deras genomsnittliga tid för att upptäcka målet (MTTD) jämfördes liksom den genomsnittliga tiden det tog för strategierna att bearbeta en sökning. Look-ahead var den bästa av de fyra olika strategierna med avseende på MTTD och baserat på detta föreslås det att den ska implementeras och utvärderas i en verklig AUV.

Location-based services (LBSs) have become pervasive, and the demand for these systems and services is rising. Indoor Positioning Systems (IPSs) are key to extend location-based services indoors where the Global Positioning System (GPS) is not reliable due to low signal strength and complicated signal propagation environment. Most existing IPSs either require the installation of special hardware devices or build a fingerprint map, which is expensive, time-consuming, and labor-intensive. Developments in microelectromechanical systems (MEMS) have resulted in significant advancements in the low-cost compact MARG inertial sensors, making it possible to achieve low-cost and high-accuracy IPSs. This research considers the indoor positioning problem and aims to design and develop an infrastructure-free self-contained indoor positioning and tracking system based on Pedestrian Dead Reckoning (PDR) using MEMS MARG inertial sensors. PDR-based systems rely on MARG inertial sensor measurements to estimate the current position of the object by using a previously determined position without external references. Many issues still exist in developing such systems, such as cumulative errors, high-frequency sensor noises, the gyro drift issue, magnetic distortions, etc. As the MARG sensors are inherently error-prone, the most significant challenge is how to design sensor fusion models and algorithms to accurately extract useful location-based information from individual motion and magnetic sensors. The objective of this thesis is to solve these issues and mitigate the challenges. The proposed positioning system is designed with four main modules at the system level and a dual-mode feature. Specifically, the four main modules are mode detection, step detection and moving distance estimation, heading and orientation estimation, and position estimation. To address the cumulative error issue of using low-cost inertial sensors, signal processing and sensor fusion techniques are utilized for algorithm design. Experimental evaluations show that the proposed position estimation algorithm is able to achieve high positioning accuracy at low costs for the indoor environment. / Thesis / Master of Applied Science (MASc) / With the maturity of microelectromechanical systems (MEMS) technology in recent years, Magnetic, Angular Rate, and Gravity (MARG) sensors are embedded in most smart devices. This research considers the indoor positioning problem and aims to design and develop an infrastructure-free self-contained MEMS MARG inertial sensor-based indoor positioning and tracking system with high precision. The proposed positioning system uses the Pedestrian Dead Reckoning (PDR) approach and includes four main modules at the system level with a dual-mode feature. Specifically, the four main modules are mode detection, step detection and moving distance estimation, heading and orientation estimation, and position estimation. The two modes are static mode and dynamic mode. To address the cumulative error issue of using low-cost inertial sensors, signal processing and sensor fusion techniques are utilized for algorithm design. The detection and estimation algorithms of each module are presented in the system design chapter. Experimental evaluations including trajectory results under five scenarios show that the proposed position estimation algorithm achieves a higher position accuracy than that of conventional estimation methods.

Les nouvelles méthodes de navigation durant le Moyen Age. Le navire de commerce à voile est propulsé par le vent et doit donc suivre cette direction générale. La navigation peut se définir selon un aspect d’abord stratégique comme le choix d’une route en tenant compte des contraintes imposées par le vent et un aspect tactique concernant le tracé et le contrôle, en cours d’exécution de cette route. 1-Dans un premier temps, la navigation antique ne se réfère qu’au seul vent qui est le moteur mais aussi le guide du navigateur pour suivre la route fixée par l’observation des traces qu’il imprime sur la mer. C’est la navigation à vue. La limite de la méthode est atteinte quand le vent devient changeant au large, ce qui oblige alors une vérification de la direction par l’observation des astres. 2- L’apparition de l’aiguille aimantée résout en partie ce problème. L’orientation géographique entraine la mise au point, à la fin du XIIIe siècle, d’une nouvelle méthode : l’estime. L’estime est la résolution graphique des problèmes que pose le contrôle de la route choisie. Cette résolution suppose, d’une part, l’usage de la boussole et d’une orientation géographique et, d’autre part, une analyse vectorielle sur un support la carte marine qui est donc indissociable de la méthode. Le plus gros défaut de l’estime est que les positions sont définies par projection dans le futur de paramètres, cap et distances parcourues actuels. Des différences sont donc à prévoir qui entrainent une zone d’incertitude sur le point estimé. 3- Lorsqu’au début du XVe siècle les navigateurs se lancent dans l’inconnu, obligés de suivre le vent qui décrit des boucles, les voyages s’allongent sans voir la terre pour une confrontation avec des positions avérées. La taille des zones d’incertitude obligent le navigateur a préciser sa position finale par d’autres méthodes basées sur des observations astronomiques. On peut distinguer deux méthodes : Tout d’abord, la méthode des hauteurs de polaire, de 1433 à 1480 environ, qui permet de finaliser la volta et d’effectuer un atterrissage selon une route Est-Ouest. L’analyse de la technique nautique de Colomb, qui utilise cette méthode, est très semblable à celle décrite par Ibn Majid dans son traité de navigation. Il est probable qu’il y a eu transmission sans pouvoir préciser les circonstances exactes.Mais dès que les navigateurs franchissent l’équateur la polaire devient indisponible, les navigateurs doivent observer le soleil. Cette deuxième méthode est plus délicate car les paramètres du soleil changent chaque jour. Ils obligent donc le navigateur à calculer la latitude, à partir de l’observation de la méridienne de soleil et par l’usage de tables des données solaire : os regimentos do sol. C’est cette méthode qui permet à Vasco da Gama de doubler le cap de Bonne Esperance, en 1498, ce qui marque la fin de la période étudiée. Pour conclure il faut remarquer que ces deux derniers méthodes sont le fruit d’une coopération entre les usagers et les scientifiques sous l’égide du pouvoir, décidé à atteindre le but fixé. C’est donc le fruit d’une véritable recherche scientifique. En second lieu, il faut également noter que les progrès de la navigation accompagnent des progrès parallèles en architecture navale, le gouvernail d’étambot, ainsi que de nouvelles procédures dans le commerce maritime. L’étude des interactions entre ces divers domaines reste à faire. / New navigational methods during the Middle Ages.A sailing vessel is pushed forwards by the wind in the general direction towards it is blowing. Navigation should comply with strategic goals: i.e. the choice of a route to a port of destination, taking into account this wind constraint. A tactical aspect is involved when following this route and checking, the entire voyage long, the good guidance of the ship. 1-In the first ages of navigation, the mariner is referring to the sole element at his disposal: the wind. It gives him elements for the direction to choose, if it is a convenient time for sailing and also it supplies the means of checking and controlling the course of the ship, by observation of the marks it is printing on the surface of the sea. Variable wind is the limit of this method. In this case, only sky observation can give an indication of the direction to follow.2- The finding of the magnetic needle solves this problem and from this new tool, a new navigation method is implemented, around the end of the XIII.th century. Dead reckoning is a way to determinate ship’s position at any moment, using a vector analysis for solving graphically the problems that checking the chosen course can induce. This graphical method is using the compass indications and needs necessarily using a marine chart. The main problem of dead reckoning is that, using present data to reckon future positions , any error in assessing these data supposes an uncertainty in this position. Correction of the route is necessary by verifying with actual land falls. Longer the voyage without such confrontation and bigger the uncertainty zone to be faced.3-In the beginning of the XV.th century, Portuguese mariners started to run the open ocean. They had to follow the wind which runs along a long loop across the ocean, la volta. Therefore running in the open seas, without any land to be seen, in order to check the actual position, obliged mariners to elaborate new methods based on astronomical observations in order to reduce the size of this uncertainty zone, when arriving to the landing point. A first method is based on the observation of the pole star depth; between the years 1433 to 1480. It is based on observation of the pole star depth. Analysis of C. Columbus nautical art shows similarities with the written work of Ibn Majid, his contemporaneous Arab nautical expert. Crossing the equator line made the polar star not available any more. Therefore, the method had to be changed and the second method involved sun observations. This is more complex as the sun data are changing every day. Therefore mariners had to reckon the latitude, using the observations of the meridian line and using of sun data tables: the so called regimentos do sol. Through this method Vasco da Gama was able to reach the Indian Ocean after passing the Cape of Good Hope. This closes the period of this study.The conclusion should take into account the fact that these astronomical methods were not entirely empiric but the result of a joint research of users, mariners and scientists. This endeavor was made possible because a central power, the Infant first , then King Joao II, were willing to proceed more south and gave their mariners the technical means to do so.A second conclusion observes that progress of navigation were accompanied by parallels progresses in naval construction and maritime new contracts and ways of handling commercial matters. There are surely interactions between these three domains, but we have still to put them into evidence.

GPS används idag för personlig navigering men dessvärre är GPS beroende av fri sikt och presterar sämre i en inomhusmiljö. Ett IPS, inomhuspositioneringssystem, skulle komplet-tera GPS:ens funktion samt öppna dörrar för nya användningsområden inom positionering. I detta examensarbete studerades metoder och tekniker för att möjliggöra ett IPS för en mo-bil enhet. Där teknikerna och metoderna verifieras för att kunna implementeras i en mobil-telefon.En prototyp för ett IPS framställdes för att utreda möjligheterna att navigera i en inomhus-miljö. En radiofingeravtrycksmetod baserat på RSSI-mätningar från Bluetooth-enheter im-plementerades och integrerades med en dödräkningsmetod som använder en IMU för att positionera användaren. Utefter tester och simuleringar utförts presenteras resultatet i form av figurer och tabeller. Med hjälp av prototypen går det att navigera med ett medelfel på 0,26m. Resultatet visar också på att en integrering av två metoder är att föredra då de kan komplettera varandras svagheter. / The GPS is used today for personal navigation, however GPS performs less well in an in-door environment due to the dependency of line of sight. The IPS, Indoor Positioning Sys-tem, will complement the function of the GPS and open doors for new applications. In this thesis studies of methods and techniques are made to enable IPS for a portable device. These techniques and methods are verified that they could be implemented in a smartphone.A prototype was designed to examine the possibility to navigate in an indoor environment. The prototype was built on a RSSI-based radio fingerprinting method over Bluetooth. This method was integrated with a dead reckoning system using an IMU to follow the motions of the user. Tests and simulations are performed along with the results presented in tables and figures. The result shows that it is possible to navigate using the prototype with a mean error of 0.26m. Results are also showing that two methods are to prefer, as they will com-plement each other’s weaknesses.

Satellite navigation (such as GPS) has become widely successful and is used by billions of users daily. Accuratepositioning and timing has a wide range of applications and is increasingly being integrated in safety criticalsystems such as autonomous operations, traffic management, navigation for airplanes and other vehicles. Thesecurity and vulnerabilities of satellite navigation is however often not considered in the same way as for exampledata security, even though the high efficacy of spoofing with off-the-self software-defined radio (SDR) has beendemonstrated repeatedly. The lack of concern comes partially from the lack of options as satellite navigationauthentication has not previously existed in the civil domain.This work benchmarks the anti-spoofing and signal level measurements of commercial receivers in both simulatedand real-world scenarios and implements additional anti-spoofing measures. The additional anti-spoofingmeasures are implemented using no additional information than what the receiver should already have accessto in any modern commercial vehicle. Upcoming EU regulation 2021/1228 for vehicles used in internationaltransport will also mandate the use of these three anti-spoofing measures by August 2023. Here receiver time isverified by the means of Network Time Protocol (NTP) and real time clock (RTC); receiver motion is verifiedby the means of dead reckoning and inertial measurement unit (IMU); receiver navigation data is verified by themeans of asymmetric cryptography and Galileo Open Service Navigation Message Authentication (OSNMA).The computational overhead is analyzed as well as cost and worldwide Market feasibility. We estimate thateven basic timing devices would only have to perform one NTP request every 17 days and a microcontrollerpowerful enough to do OSNMA costs less than $2. Finally, the benefits of multi-band receivers and futuredevelopments in both the user and space segments are discussed.