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Indoor User Localization Using Particle Filter and NLOS Ranging Model
Jongdae Jung,Hyun Myung 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
User localization is one of the key technologies for mobile robots to successfully interact with humans. Among various localization methods using radio frequency (RF) signals, time of arrival (TOA) based localization is popular since the target coordinates can be directly calculated from the accurate range measurements. In complex indoor environment, however, RF-ranging-based localization is quite challenging since the range measurements suffer not only from signal noise but also from signal blockages and reflections. A set of range measurements taken in complex indoor environment verifies that almost all measurements are nonline-of-sight (NLOS) ranges which have striking difference to the line-ofsight (LOS) distances. These NLOS range measurements make severe degradation in the accuracy of trilateration based localizations if used without any compensation. In this paper we propose a particle filter based localization algorithm which exploits indoor geometry from the given map to estimate the NLOS signal path and compensate the range measurements. The algorithm is verified with experiments performed in real indoor environments.
Downburst versus boundary layer induced wind loads for tall buildings
Jongdae Kim,Horia Hangan,T.C. Eric Ho 한국풍공학회 2007 Wind and Structures, An International Journal (WAS Vol.10 No.5
Downbursts are transient phenomena that produce wind profiles that are distinctly different from synoptic boundary layers. Wind field data from Computational Fluid Dynamics (CFD) simulations of isolated downburst-like impinging jets, are used to investigate structural loads of tall buildings due to these high intensity winds. The base shear forces and base moments of tall buildings of heights between 120 and 250 m produced by downburst winds of various scales are compared with the forces from the equivalent boundary layer gust winds, with matched 10-metre wind velocity. The wind profiles are mainly functions of the size of the downburst and the radial distance from the centre of the storm. Wind forces due to various downburst profiles are investigated by placing the building at different locations relative to the storm center as well as varying the size of the downburst. Overall it is found that downbursts larger than approx. 2,000 m in diameter might produce governing design wind loads above those from corresponding boundary layer winds for tall buildings.