Kobra Bozorgniya; Hani Rezayan; Javad Sadidi
Abstract
Introduction The accuracy of positioning depends on the quality of the technology used. Various technologies and techniques are used for positioning which are classified as absolute and dead-reckoning groups. Classified as absolute positioning technologies,GPS receiversface a variety of different errors ...
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Introduction The accuracy of positioning depends on the quality of the technology used. Various technologies and techniques are used for positioning which are classified as absolute and dead-reckoning groups. Classified as absolute positioning technologies,GPS receiversface a variety of different errors in the real-time positioning of a moving object, which reduces the accuracy and precision of the position received from these receivers. On the other hand, dead-reckoning sensors such as gyroscopes and magnetometers which measure real-time state of a moving object also have cumulative errors.Therefore, observations made by all of these sensors are not free from the noise generated during the measurement process.The amount of this noise may vary depending on various factors, including the precision of the sensor and features of the measuring environment. Thus,due to thecorrelation between observations made by these two categories of sensors and the difference between their precision and the nature of their errors,ifnoise is reduced inobservations made by them, their complementary features can be used to reduce errors made by each of them.High-quality positioning technologies are expensive and require high expertise.As a result,lower quality and cheaper global navigation satellite systems (like GPS) widelyavailable in smartphones are more commonly used. One of the most important features of these inexpensive technologies is that they are highly susceptible to factors producing noise. Methodology The present studyinvestigates the effect of gradual reduction of noise from data collected by sensors, accelerometers, magnetometers, gyroscopes, and GPS technology in smartphones on improvement of vehicle positioning. The proposed method is based on using acceleration, azimuth, latitude, longitude and roll angle parameters as an input for the Kalman algorithm and investigates the effect of reducing noise produced by these parameters using the least-squares method onimprovement of the resulting position calculated by the Kalman algorithm. To reach this aim, the roll angle parameter is extracted from the angular Velocity() in y-direction and the azimuth parameter is extracted from the magnetic field() in both x and y directions. These parameters along with the acceleration(a) parameter in x and y directions and the geographic coordinates are selected for the Kalman filtering algorithm. In the proposed method, data received from sensors share common sources of noise produceddue to drift, random movements and bias errors.To reduce this noise independently and systematically, method of averaging with the least-squares is usedfor data produced by each sensor. Thus, noise in the received data is considered as a random parameter and noise reduction is performed based on the percentage of changes in the corrected and observed data in the range of 1 to 10%. Kalman algorithm is implemented for 10 levels of noise reduction and the results areinvestigated and compared.The filter calculates and improves an estimate of position vector x, denoted by with minimum mean square error using a recursive model. The main objective is to derive an accurate estimate of for the state of the observed system at time of k. Implementing Kalman filter consists of a prediction step and an updating step. The result is compared todata received from a more accurate reference using RMSE. Results and Discussions The study area consists of lane no. 2 of the South-North (East-West) Azadegan Highway, Tehran, Iran with a total area of about 26km. Results show that compared to the reference data, using Kalman filter has decreased errorsin positioning the car from 0.8274 m to 0.6763 m with a 2%noise reduction. With a 10% noise reduction, the accuracy of this method has increases to 0.6771 m. This improved accuracy is due to noise reduction and consequently an increase in the correlation between the parameters. Accordingly, the threshold limit for noise reduction and improved positioning using Kalman filter is low and can be recognized by an investigation of a few lowlimits. According to the findings, although reducing the effect of noise can improve positioning with Kalman filter and smart phone sensors, irregular changes in the accuracy of noise reduction methods require determining an optimal percentage for noise reduction.
Javad Sadidi; Saiedeh Sahebi Vayghan; Hani Rezaiyan
Abstract
Extended Abstract 1. Introduction During the recent years, advances in data collection and management technology, have led to the creation of very large databases. In contrast to other data such as numbers and strings, raster data are considered as complicated and ...
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Extended Abstract 1. Introduction During the recent years, advances in data collection and management technology, have led to the creation of very large databases. In contrast to other data such as numbers and strings, raster data are considered as complicated and contain special characteristics so that, they are classified as “big data”. Due to the nature of spatial analysis queries, the need arises to aggregate or summarize a large portions of the data to be analyzed. The main issue in the database era is the efficient query processing so that users do not spend long time for retrieving the requests. Traditional query processes return exact answers, however, the answers take more time than what is needed in real time systems. It is notable that sometimes the query running time is much more important than the accuracy, specially, in real time services. AQP (Approximate Query Processing) is an alternative method for query processing in time – consuming environments that enables the system to provide fast approximated answers. One of the most significant applications of AQP is query optimization. AQP may play a valuable role in increasing the speed of spatial queries facing robust and complicated data. It is also an efficient method for recognizing the needed data and subsequently minimizing the cost of aggregation queries. Since 1980s, utilizing the approximation methods have been initiated for decision support systems. Also, AQP has been noticed to address some problems in database era during the past decade. The current technics in various research frontiers are only useful for relational database systems (Azevedo, et al., 2007). The main idea behind in-database processing is the elimination of big data sets transmission to disjointed programs. Since, in-database processing that all analysis are implemented into database, it offers fast implementation, scalability and security. Hence, In-Database processing improves the computer network productivity and participates in well-suited designing of fast response queries. 2. Methodology The current research aims at comparing traditional and optimized Sum aggregation operation to decrease the running time of spatial queries into PostgreSQL database. To undertake the research, 60 precipitation rasters have been used. The study area is located in Lorestan province and precipitation gauging stations were used as primary data. Raster data have been created from monthly precipitation data for the period of 2010-2014 using Kriging interpolation method and entered into PostgreSQL database using Raster2pgSQl extension. Then, raster pixels are stored into their related tables. In optimized aggregation method, firstly, raster data are clustered by the written similarity function. The used functions have been written by PL/pgSQL language in PostGIS. The execution steps of Sum function are as the following: creating the similarity function, performing the function, running the optimized query and consequently, resulting the approximated query respectively. Subsequently, one raster is selected from each cluster and it is multiplied by the number of rasters belonging to the given cluster. The resulted raster is entered to Sum function as the representative of the cluster. In each cluster, the number of implemented arithmetic operations is reduced as the following formula: (number of rasters in the cluster-1) *rows*columns of the given raster). Using the mentioned method, the number of arithmetic operations is significantly reduced and prepares the fast approximate answers. Finally, for accuracy assessment, the error of each method was approximated by calculating mean relative error, DI (difference indicator) error and relative error for each raster. Finally, the achieved results were analyzed. It is mentionable that the user may make a decision whether the resulted accuracy is acceptable for a particular project or an exact query has to be executed. 3. Results and discussion In this research, to compare the traditional and optimized Sum function, five scenarios have been implemented. The results show that the optimized Sum function is 27.2 times faster than the traditional function. The average difference of pixel values between the traditional and optimized one is 0.028. Consequently, the query running time for the optimized and traditional Sum is 7.754 and 211 seconds respectively, which implies the efficiency of the used method (optimized Sum). It is notable that the accuracy of the optimized method depends on the nature and homogeneity or heterogeneity of the used rasters. The valuable decreasing of the in-database spatial query running time may be used to offer real time web-based services such as meteorology, traffic, etc., which need real time analysis and fast retrieving responses.
