Preface |
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ix | |
Foreword |
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xi | |
Acknowledgements |
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xv | |
Acronyms and Abbreviations |
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xvii | |
Chapter 1 Introduction |
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1 | (24) |
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1.1 The General Issue of Wireless Position Location |
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1 | (8) |
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1.1.1 Context and Applications |
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1 | (1) |
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1.1.2 Classification of Wireless Positioning Systems |
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2 | (6) |
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1.1.3 Performance Metrics |
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8 | (1) |
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1.2 Positioning and Navigation Systems |
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9 | (8) |
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1.2.1 Satellite-Based Systems |
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10 | (2) |
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1.2.2 Augmentation Systems and Assisted GNSS |
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12 | (1) |
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1.2.3 Terrestrial Network-Based Systems |
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13 | (4) |
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1.3 Application of Signal Processing Techniques to Positioning and Navigation Problems |
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17 | (4) |
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1.3.1 Parametric Statistical Techniques |
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18 | (1) |
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1.3.2 Nonparametric Statistical Techniques |
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19 | (1) |
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1.3.3 Nongeometric Techniques |
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19 | (1) |
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1.3.4 Advanced Signal Processing Tools |
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19 | (2) |
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21 | (4) |
Chapter 2 Satellite-Based Navigation Systems |
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25 | (50) |
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2.1 Global Navigation Satellite Systems (GNSSs) |
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25 | (21) |
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2.1.1 Global Positioning System (GPS) |
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25 | (7) |
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32 | (8) |
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40 | (5) |
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2.1.4 Compass/BeiDou and Regional GNSSs |
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45 | (1) |
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46 | (16) |
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2.2.1 Overall Architecture |
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47 | (2) |
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49 | (3) |
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52 | (5) |
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2.2.4 Navigation Processing |
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57 | (3) |
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2.2.5 Pseudorange Error Sources |
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60 | (2) |
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2.3 Augmentation Systems and Assisted GNSS |
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62 | (10) |
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63 | (2) |
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2.3.2 Satellite-Based Augmentation Systems |
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65 | (1) |
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2.3.3 Pseudolites for GNSS |
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66 | (1) |
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66 | (1) |
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66 | (6) |
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72 | (3) |
Chapter 3 Terrestrial Network-Based Positioning and Navigation |
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75 | (80) |
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3.1 Fundamentals on Positioning and Navigation Techniques in Terrestrial Networks |
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75 | (25) |
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3.1.1 Position-Related Signal Parameter Estimation |
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76 | (5) |
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3.1.2 Position Estimation Techniques |
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81 | (9) |
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3.1.3 Error Sources in Localization |
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90 | (10) |
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3.2 Positioning in Cellular Networks |
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100 | (5) |
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3.2.1 Positioning and Navigation Approaches |
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101 | (4) |
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3.3 Positioning in Wireless LANs |
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105 | (9) |
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3.3.1 Architecture of a WLAN |
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106 | (1) |
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3.3.2 IEEE 802.11a/b/g Standards |
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107 | (1) |
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3.3.3 Positioning and Navigation Approaches |
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108 | (6) |
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3.4 Positioning in Wireless Sensor Networks |
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114 | (30) |
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3.4.1 Physical Layers for WSNs |
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114 | (5) |
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3.4.2 Position-Related Signal Parameters Using UWB |
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119 | (11) |
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3.4.3 Positioning Approaches for WSNs |
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130 | (14) |
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144 | (11) |
Chapter 4 Fundamental Limits in the Accuracy of Wireless Positioning |
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155 | (52) |
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4.1 Accuracy Bounds in Parameter Estimation and Positioning |
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155 | (6) |
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4.1.1 Fundamental Limits in TOA Ranging with UWB Signals |
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156 | (5) |
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4.2 Variations on the CramerRao Bounds |
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161 | (10) |
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4.2.1 CramerRao Bounds on TOA Estimation in the UWB Multipath Channel |
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162 | (2) |
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4.2.2 CRBs for UWB Multipath Channel Estimation: Impact of the Overlapping Pulses |
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164 | (7) |
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4.3 Variations on the ZivZakai Bound |
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171 | (6) |
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4.3.1 Signal and Channel Models for UWB Scenarios |
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171 | (2) |
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4.3.2 Derivation of the ZivZakai Lower Bound |
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173 | (2) |
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4.3.3 Numerical Results in the Presence of Multipath |
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175 | (2) |
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4.4 Innovative Positioning Algorithms and the Relevant Bounds |
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177 | (25) |
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4.4.1 Theoretical Bounds for Direct Position Estimation in GNSS |
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177 | (15) |
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4.4.2 Theoretical Performance Limits in Cooperative Localization |
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192 | (4) |
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4.4.3 Bounds for TOA Estimation in the Presence of Interference |
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196 | (6) |
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202 | (5) |
Chapter 5 Innovative Signal Processing Techniques for Wireless Positioning |
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207 | (110) |
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5.1 Advanced UWB Positioning Techniques |
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207 | (27) |
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5.1.1 TOA Estimators Operating in the Frequency Domain |
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208 | (9) |
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5.1.2 Joint Range and Direction of Arrival Estimation |
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217 | (10) |
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5.1.3 TOA Estimation in the Presence of Interference |
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227 | (3) |
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5.1.4 Robust Approaches for TOA Estimation in NLOS Conditions |
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230 | (4) |
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5.2 MIMO Positioning Systems |
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234 | (7) |
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5.2.1 CRB for the Joint Estimation of TOA and AOA in MIMO Systems |
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235 | (3) |
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5.2.2 A Practical Range Estimator for SIMO Systems |
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238 | (3) |
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5.3 Advanced Geometric Localization Approaches |
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241 | (20) |
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5.3.1 Bounded-Error Distributed Estimation |
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242 | (6) |
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5.3.2 Projections onto Convex Sets (POCS) Algorithms |
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248 | (13) |
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5.4 Cooperative Positioning |
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261 | (30) |
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5.4.1 Introduction to Cooperative Localization |
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262 | (2) |
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264 | (4) |
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268 | (6) |
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5.4.4 Positioning Using Active and Passive Anchors |
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274 | (6) |
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5.4.5 Distributed Positioning Based on Belief Propagation |
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280 | (11) |
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5.5 Cognitive Positioning for Cognitive Radio Terminals |
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291 | (17) |
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5.5.1 Cognitive TOA Estimation |
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292 | (4) |
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5.5.2 Filter-Bank Multicarrier Ranging Signals |
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296 | (3) |
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5.5.3 Cognitive Bounds and Algorithms with Multicarrier Signals |
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299 | (9) |
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308 | (9) |
Chapter 6 Signal Processing for Hybridization |
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317 | (66) |
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6.1 An Introduction to Bayesian Filtering for Localization and Tracking |
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318 | (22) |
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318 | (2) |
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320 | (2) |
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6.1.3 Generic Structure of a Bayesian Filter |
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322 | (2) |
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6.1.4 Kalman Filter and its Derivatives |
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324 | (9) |
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333 | (7) |
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6.2 Hybrid Terrestrial Localization Based on TOA + TDOA + AOA Measurements |
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340 | (4) |
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6.3 Hybrid Localization Based on GNSS and Inertial Systems |
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344 | (25) |
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6.3.1 Inertial Measurement Units and Inertial Navigation |
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345 | (3) |
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6.3.2 Classic Integration of a GNSS Receiver with Inertial Sensors |
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348 | (5) |
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6.3.3 Bayesian Direct Position Estimation with Inertial Information |
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353 | (16) |
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6.4 Hybrid Localization Based on GNSS and Peer-to-Peer Terrestrial Signaling |
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369 | (9) |
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6.4.1 Hybrid Distributed Weighted Multidimensional Scaling |
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370 | (8) |
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378 | (5) |
Chapter 7 Casting Signal Processing to Real-World Data |
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383 | (38) |
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7.1 The NEWCOM++ Bologna Test Site |
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384 | (6) |
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384 | (3) |
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7.1.2 Reference Scenarios |
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387 | (3) |
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7.2 Application of Signal Processing Algorithms Experimental Data |
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390 | (17) |
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7.2.1 Hybridization of Radio Measurements with Inertial Acceleration Corrections |
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390 | (2) |
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7.2.2 EKF and SIR-PF for Hybrid Terrestrial Navigation |
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392 | (5) |
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7.2.3 Coping with NLOS Measurements: A Comparison among EKF with Bias Tracking, Cubature PF, and Cost-Reference PF |
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397 | (7) |
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7.2.4 Experimental Results on LOS versus NLOS Propagation Condition Identification |
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404 | (3) |
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7.3 Software-Defined Radio: An Enabling Technology to Develop and Test Advanced Positioning Terminals |
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407 | (11) |
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7.3.1 The Software-Defined Radio Concept |
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408 | (2) |
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7.3.2 SDR Technology in Localization |
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410 | (8) |
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418 | (3) |
Index |
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421 | |