Indoor localization for pedestrians with real-time capability using multi-sensor smartphones

ABSTRACT

The localization of persons or objects usually refers to a position determined in a spatial reference system. Outdoors, this is usually accomplished with Global Navigation Satellite Systems (GNSS). However, the automatic positioning of people in GNSS-free environments, especially inside of buildings (indoors) poses a huge challenge. Indoors, satellite signals are attenuated, shielded or reflected by building components (e.g. walls or ceilings). For selected applications, the automatic indoor positioning is possible based on different technologies (e.g. WiFi, RFID, or UWB). However, a standard solution is still not available. Many indoor positioning systems are only suitable for specific applications or are deployed under certain conditions, e.g. additional infrastructures or sensor technologies. Smartphones, as popular cost-effective multi-sensor systems, is a promising indoor localization platform for the mass-market and is increasingly coming into focus. Today’s devices are equipped with a variety of sensors that can be used for indoor positioning. In this contribution, an approach to smartphone-based pedestrian indoor localization is presented. The novelty of this approach refers to a holistic, real-time pedestrian localization inside of buildings based on multi-sensor smartphones and easy-to-install local positioning systems. For this purpose, the barometric altitude is estimated in order to derive the floor on which the user is located. The 2D position is determined subsequently using the principle of pedestrian dead reckoning based on user's movements extracted from the smartphone sensors. In order to minimize the strong error accumulation in the localization caused by various sensor errors, additional information is integrated into the position estimation. The building model is used to identify permissible (e.g. rooms, passageways) and impermissible (e.g. walls) building areas for the pedestrian. Several technologies contributing to higher precision and robustness are also included. For the fusion of different linear and non-linear data, an advanced algorithm based on the Sequential Monte Carlo method is presented.     

IOD Modoki事件对华南后汛期降水异常的影响及可能机理

利用1979—2019年CN05.1中国区域高分辨率降水格点数据、英国Hadley中心观测海温数据、ERA5逐月大气再分析资料及大气环流模式,研究了华南后汛期期间(7—9月)IOD Modoki事件与华南后汛期降水异常的关系及可能机理。观测资料结果表明,华南后汛期降水异常与热带印度洋中部(东和西部)海温异常呈显著正(负)相关关系,表现为印度洋IOD Modoki或印度洋三极子事件的空间分布型。滤除ENSO信号影响后,华南后汛期降水异常仍和IOD Modoki存在较为密切的联系。IOD Modoki正异常对华南后汛期降水异常的影响有以下途径,一方面,异常水汽从热带印度洋东部向西输送至热带中印度洋后,在北半球受科氏力作用向东输送至华南地区,为华南地区提供了充足的水汽条件,并且对华南地区降水正异常的主要水汽辐合贡献为平均水汽的水平扰动散度项和扰动引起的平均水汽垂直平流项。另一方面,热带东南印度洋海温负异常,通过Mastuno-Gill响应引起对流层低层自热带东南印度洋至热带中印度洋有东南风异常,增强了70°E附近的越赤道气流,在北半球向东输送至西北太平洋,这引起了华南地区对流层低层气旋式环流异常。另外,热带东印度洋对流层低(高)层异常辐散(辐合),华南地区低(高)层异常辐合(辐散)增强了东亚地区的局地Hadley环流,有利于华南地区降水的产生。再者,IOD Modoki引起南亚季风区受异常下沉运动控制,并通过季风-荒漠机制引起副热带北大西洋东部、北非荒漠区及地中海西部周围正涡度异常,激发了沿急流向下游传播的准静止Rossby波,增强了日本海高压异常和华南及邻近地区对流层低层气旋式环流异常。上述原因均有利于华南地区降水的产生,反之亦然。上述结果在数值模式中亦得到了验证。     

Long baroclinic Rossby waves with periods of about 500d near 20°N in the northwest Pacific Ocean

On the basis of maps of sea level anomalies data set from October 1992 to January 2004, pronounced low frequency variations with periods of about 500 d are detected in the area near 20°N from 160°W to 130°E. A linear two-layer model is employed to explain the mechanism. It is found that the first-mode long baroclinic Rossby waves at 20°N in the northwest Pacific propagate westward in the form of free waves at a speed of about 10.3 cm/s. This confirms that the observed low frequency variabilities appear as baroclinic Rossby waves. It further shows that these low frequency variabilities around 20°N in the northwest Pacific can potentially be predicted with a lead up to 900 d.     

冲绳海槽北段的重磁场特征及地质意义

１９９２年之前,国内对冲绳海槽的调查研究主要集中在海槽的中部和南部,而对其北段的调查研究工作却很少。根据实测的重磁异常,较深入地分析了海槽北段的地球物理场特征,构造活动地壳结构及应力状态,结果表明冲绳海槽北段同样具有强烈的地壳构造活动。     

秋季巴伦支海海温异常对冬季我国渤海冰情的可能影响

本文利用美国NCEP/NCAR逐月的再分析资料、HadISST海温、中国160台站气温和反映渤海冰情轻重的渤海冰情等级资料,研究了前秋巴伦支海海温异常对后期渤海冰情和东亚冬季风的影响,并对相关的物理过程进行分析。结果表明,前秋巴伦支海关键区海温与该区域海冰密集度呈显著的负相关,且具有较好的持续性,通过调节随后冬季向大气释放的热通量,引起后期环流变化。偏高(偏低)年冬季亚洲纬向环流偏弱(偏强),东亚大槽加深(减弱),东亚冬季风加强(减弱),我国东北、华北及西北地区地区显著偏冷(偏暖),这与冬季渤海海冰异常的强度和范围都偏大(小)及与之相联系的环流异常相一致。进一步的分析揭示了联系上游关键区海温变化与后期东亚地区气候异常的重要途径,前秋巴伦支海海温偏高会导致200 hPa高度场形成一个自西向东的波列形式,在东亚局地Hadley环流异常的作用下,加强了我国北方地区地表的北风异常。因此,前秋巴伦支海海温异常可以作为冬季渤海冰情的预报因子。     

渤黄海海平面的变化及其与ENSO的关系

利用1992年12月至2007年5月的高度计资料,研究了渤黄海海平面的变化特征。统计分析表明,近14a间渤海及北黄海、中央黄海海平面的平均上升高度分别为45.9mm和34.7mm,各海域的海平面上升速度不完全相同。研究发现,南方涛动指数(SOI)、纬向风应力距平都与渤海及北黄海、中央黄海的SLA呈负相关性,渤黄海海平面显著受SOI、纬向风应力调制,并且,SOI与渤黄海海域的风场之间有良好相关。将坐标系进行旋转后,获得与当地海平面异常相关最大的风应力方向。对SLA与新坐标系下风应力距平u的低频分量分析发现,渤海及北黄海海区、中央黄海对海平面影响最大的风应力距平u方向分别为东偏南20°方向、东偏南8°方向,风应力距平u分量与SLA、SOI的低频分量呈现更好的相关性。ENSO通过大气环流过程对渤黄海海域的风场产生影响,当地风场通过纬向风应力对渤黄海海平面的年际变化产生调制作用。因此,ENSO可以通过风应力对渤黄海海平面产生影响。     

100hPa环流变化与川渝地区旱涝异常分析

应用ＳＶＤ技术,诊断分析了北半球１００ｈＰａ高度场与川渝地区夏季降水的关系。结果表明：高度场与降水场具有密切的时空相关性,第一模态反映了两场间的主要耦合特征;南亚高压活动地区前期１０～１２月、１～４月高度场变化,通过影响未来夏季南亚高压强度、位置,导致川渝地区夏季旱涝异常。高度场与降水场的这种非同步联系,物理意义明确,时空相关显著,是一种有价值的预测川渝地区夏季旱涝异常的强信号。     

不同时间尺度的西北太平洋海洋表面温度距平模态的比较

本文利用经验正交分解法(Empirical Orthogonal Function,EOF)对不同月平均和10天平均的西北太平洋海洋表面温度距平数据进行分解,得到月平均和10天平均的西北太平洋海洋表面温度距平分布模态,并对分布模态进行比较。发现尽管数据源相同,但是不同时间分辨率的EOF结果出现正好相反的情况,文章最后从数学的角度解释了月平均和10天平均的海洋表面温度距平模态及其时间系数发生反向的原因。