The advancements in sensor and communication technologies drive the rapid developments in the applications of occupancy and indoor environmental monitoring in buildings. Currently, the installation standards for sensors are scarce and the recommendations for sensor positionings are very general. However, inadequate sensor positioning might diminish the reliability of sensor data, which could have serious impacts on the intended applications such as the performance of demand-controlled HVAC systems and their energy use. Thus, there is a need to understand how sensor positioning may affect the sensor data, specifically when using multi-sensor devices in which several sensors are being bundled together. This study is based on the data collected from 18 multi-sensor devices installed in three single-occupant offices (six sensors in each office). Each multi-sensor device included sensors to measure passive infrared (PIR) radiation, temperature, CO₂, humidity, and illuminance. The results show that the positions of PIR and CO₂ sensors significantly affect the reliability of occupancy detection. The typical approach of positioning the sensors on the ceiling, in the middle of offices, may lead to relatively unreliable data. In this case, the PIR sensor in that position has only 60% accuracy of presence detection. Installing the sensors under office desks could increase the accuracy of presence detection to 84%. These two sensor positions are highlighted in sensor fusion analysis as they could reach the highest accuracy compared to other pairs of PIR sensors. Moreover, sensor positioning can affect various indoor environmental parameters, especially temperature and illuminance measurements.

Vehicle self-positioning is of significant importance for intelligent transportation applications. However, accurate positioning (e.g., with lane-level accuracy) is very difficult to obtain due to the lack of measurements with high confidence, especially in an environment without full access to a global navigation satellite system (GNSS). In this paper, a novel information fusion algorithm based on a particle filter is proposed to achieve lane-level tracking accuracy under a GNSS-denied environment. We consider the use of both coarse-scale and fine-scale signal measurements for positioning. Time-of-arrival measurements using the radio frequency signals from known transmitters or roadside units, and acceleration or gyroscope measurements from an inertial measurement unit (IMU) allow us to form a coarse estimate of the vehicle position using an extended Kalman filter. Subsequently, fine-scale measurements, including lane-change detection, radar ranging from the known obstacles (e.g., guardrails), and information from a high-resolution digital map, are incorporated to refine the position estimates. A probabilistic model is introduced to characterize the lane changing behaviors, and a multi-hypothesis model is formulated for the radar range measurements to robustly weigh the particles and refine the tracking results. Moreover, a decision fusion mechanism is proposed to achieve a higher reliability in the lane-change detection as compared to each individual detector using IMU and visual (if available) information. The posterior Cramér-Rao lower bound is also derived to provide a theoretical performance guideline. The performance of the proposed tracking framework is verified by simulations and real measured IMU data in a four-lane highway.

Knowledge about the indoor occupancy is one of the important sources of information to design smart buildings. In some applications, the number of occupants in each zone is required. However, there are many challenges such as user privacy, communication limit, and sensor’s computational capability in development of the occupancy monitoring systems. In this work, a people flow counting algorithm has been developed which uses low-resolution thermal images to avoid any privacy concern. Moreover, the proposed scheme is designed to be applicable for wireless sensor networks based on the internet-of-things platform. Simple low-complexity image processing techniques are considered to detect possible objects in sensor’s field of view. To tackle the noisy detection measurements, a multi-Bernoulli target tracking approach is used to track and finally to count the number of people passing the area of interest in different directions. Based on the sensor node’s processing capability, one can consider either a centralized or a full in situ people flow counting system. By performing the tracking part either in sensor node or in a fusion center, there would be a trade off between the computational complexity and the transmission rate. Therefore, the developed system can be performed in a wide range of applications with different processing and transmission constraints. The accuracy and robustness of the proposed method are also evaluated with real measurements from different conducted trials and open-source dataset.

Intelligent transportation system significantly relies on accurate positioning information of land vehicles for both safety and non-safety related applications, such as hard-braking ahead warning and red-light violation warning. However, existing Global Navigation Satellite System (GNSS) based solutions suffer from positioning performance degradation in challenging environments, such as urban canyons and tunnels. In this paper, we focus on the positioning performance enhancement of land vehicles via cooperative positioning under a partial GNSS environment in a Vehicular Ad-hoc NETwork (VANET). The availability of Time-of-Flight (ToF) based inter-vehicle or vehicle-to-infrastructure ranges is verified via 5.9 GHz Dedicated Short-Range Communication (DSRC) vehicle-to-everything communication with RTS/CTS unicast mechanism. An inertial navigation sensor aided, tightly coupled integration approach for land vehicle cooperative positioning using DSRC ToF ranges and carrier frequency offset range-rates is proposed, where a digital map is used to constrain the position estimates. If available, the GNSS pseudorange and Doppler shift under partial GNSS environment can also be incorporated. A Rao–Blackwellized particle filter is utilized to estimate the unknown variables allowing for reduced computational complexity in comparison with the conventional particle filter. The posterior Cramer–Rao lower bound is also derived to give a theoretical performance guideline. Both simulation and experimental results show the validity of our proposed approach.

Vehicle positioning is of significant importance for intelligent transportation applications. However, accurate positioning (e.g., with lane level accuracy) is very difficult to obtain due to lack of measurements with high confidence, especially in an environment without full access to a global navigation satellite system (GNSS). In this paper, a novel information fusion algorithm based on a particle filter (PF) is proposed to achieve lane level tracking accuracy under a GNSS-denied environment. We consider the use of both large scale and small scale signal measurements for positioning. Time-of-arrival (TOA) measurements using the radio frequency signals from known transmitters or roadside units, and acceleration or gyroscope measurements from an inertial measurement unit (IMU) allow us to form a coarse estimate of the vehicle position using an extended Kalman filter (EKF). Subsequently, small scale measurements such as lane-change detection, radar ranging from the guardrails and information from a high resolution digital map are incorporated to refine the position estimates using a PF. A probabilistic model is introduced to characterize the lane changing behaviors and a multi-hypothesis model is formulated for the radar range measurements to robustly weight the particles and refine the tracking results. The performance of the proposed tracking framework is verified by simulations using a four-lane highway.