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© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
1
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
2010
Vincenzo La Tosa
Primary Supervisor: Pr. Bernard Uguen (Univ. Rennes 1)
Co-Supervisor: Dr. Benoît Denis (CEA-LETI)
Ultra Wide Band Multipath Exploitation for
Anchor-less Localization and Indoor
Environment Characterization
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
2
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Introduction
Problem Statement
State-of-the-art
Proposed Solutions with an UWB Coherent Receiver (CR)
Proposed Solution with an UWB Non-Coherent Receiver (NCR)
Conclusion & Perspectives
Summary
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
3
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Introduction
Problem Statement
State-of-the-art
Proposed Solutions with an UWB Coherent Receiver (CR)
Proposed Solution with an UWB Non-Coherent Receiver (NCR)
Conclusion & Perspectives
Summary
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
4
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
IR-UWB: what is it?
• Impulse Radio – Ultra Wide Band (IR-UWB) is a low-power and short rangecommunication technology using a bandwidth larger than 500 MHz
• pulses are very short in time (e.g. about 1 ns for a 1 GHz bandwidth), thanks to the very large bandwidth
Introduction (1/3)
0 10 20 30 40 50 60 70 80-1.5
-1
-0.5
0
0.5
1
1.5
Time [ns]
Receiv
ed t
ensio
n [
mV
]
Received signal, 802.15.4a channel #4, 5th interaction order allowed
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
5
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
IR-UWB: what is it?
• Impulse Radio – Ultra Wide Band (IR-UWB) is a low-power and short rangecommunication technology using a bandwidth larger than 500 MHz
• pulses are very short in time (e.g. about 1 ns for a 1 GHz bandwidth), thanks to the very large bandwidth
Regulation :
• different for US (FCC) and EU (ECC)
• very low Power Density Spectrum (PSD) allowed by FCC: -41.3 dBm/MHz
Introduction (1/3)
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
6
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
IR-UWB: what is it?
• Impulse Radio – Ultra Wide Band (IR-UWB) is a low-power and short rangecommunication technology using a bandwidth larger than 500 MHz
• pulses are very short in time (e.g. about 1 ns for a 1 GHz bandwidth), thanks to the very large bandwidth
Regulation :
• different for US (FCC) and EU (ECC)
• very low Power Density Spectrum (PSD) allowed by FCC: -41.3 dBm/MHz
IEEE 802.15.4a standard (2007):
• low data rate (LDR) and peer-to-peer ranging for Wireless Sensor Networks (WSN)
Introduction (1/3)
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
7
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Environment characterization: what is it?
• the characterization of a given indoor environment is the description of :
geometry (i.e. room map)
materials constituting environment
Introduction (2/3)
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
8
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Anchor-less localization: what is it?
• for a given radio device the capability of getting aware of its coordinates in a local and relative Cartesian coordinate system in the surrounding environment
• no node can be an anchor (i.e. reference node)
Introduction (3/3)
x
y
1x 2x
1y
2y
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
9
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Introduction
Problem Statement
State-of-the-art
Proposed Solutions with an UWB Coherent Receiver (CR)
Proposed Solution with an UWB Non-Coherent Receiver (NCR)
Conclusion & Perspectives
Summary
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
10
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Joint environment characterization and anchor-less localizationwhile communicating
Problem statement
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
11
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Joint environment characterization and anchor-less localizationwhile communicating
The two SISO nodes belonging to a WSN exchange packets
Problem statement
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
12
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Joint environment characterization and anchor-less localizationwhile communicating
The two SISO nodes belonging to a WSN exchange packets
Thanks to multi-path diversity, the receiver can estimate room dimensions and nodes coordinates in the room
Problem statement
Dx
Dy
1x 2x
1y
2y
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
13
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Joint environment characterization and anchor-less localizationwhile communicating
The two SISO nodes belonging to a WSN exchange packets
Thanks to multi-path diversity, the receiver can estimate room dimensions and nodes coordinates in the room
Application fields: robotics, home automation, home entertainment, mobility in dangerous environments
Problem statement
Dx
Dy
1x 2x
1y
2y
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
14
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Introduction
Problem Statement
State-of-the-art
Proposed Solutions with an UWB Coherent Receiver (CR)
Proposed Solution with an UWB Non-Coherent Receiver (NCR)
Conclusion & Perspectives
Summary
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
15
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Environment characterization:
UWB Imaging (R. Zetik, 2005)
UWB monostatic radar technique or Single Input Multiple Output (SIMO) transmission (i.e. multiple receiving antennas) in a mobile scenario, providing an image of the environment and exploiting collected Channel Impulse Responses (CIR)
State-of-the-art
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
16
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Environment characterization:
UWB Imaging (R. Zetik, 2005)
UWB monostatic radar technique or Single Input Multiple Output (SIMO) transmission (i.e. multiple receiving antennas) in a mobile scenario, providing an image of the environment starting from collected Channel Impulse Responses (CIR)
Simultaneous Localization And Mapping (SLAM) (J. A. Castellanos,1997)
mobile robots discovering the indoor environment without radio communications (e.g. through camera, laser)
State-of-the-art
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
17
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Environment characterization:
UWB Imaging (R. Zetik, 2005)
UWB monostatic radar technique or Single Input Multiple Output (SIMO) transmission (i.e. multiple receiving antennas) in a mobile scenario, providing an image of the environment starting from collected Channel Impulse Responses (CIR)
Simultaneous Localization And Mapping (SLAM) (J. A. Castellanos,1997)
mobile robots discovering the indoor environment without radio communications (e.g. through camera, laser)
Joint communications, localization and environment characterization:
Indoor Mapping (W. Guo, 2005)
geometric relationships linking the differences of Times of Arrival with geometry
State-of-the-art
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
18
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Environment characterization:
UWB Imaging (R. Zetik, 2005)
UWB monostatic radar technique or Single Input Multiple Output (SIMO) transmission (i.e. multiple receiving antennas) in a mobile scenario, providing an image of the environment starting from collected Channel Impulse Responses (CIR)
Simultaneous Localization And Mapping (SLAM) (J. A. Castellanos,1997)
mobile robots discovering the indoor environment without radio communications (e.g. through camera, laser)
Joint communications, localization and environment characterization:
Indoor Mapping (W. Guo, 2005)
geometric relationships linking the differences of Times of Arrival with geometry
Radiolocation with anchors:
Different solutions (S. Gezici, 2005)
AoA, Signal Strength, ToA
State-of-the-art
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
19
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Two different approaches:
Coherent Receiver (CR)
high frequency sampling (i.e. Nyquist compliant, fs = 15 GHz)
floating point dynamic range for signal representation
Described Investigations
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
20
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Two different approaches:
Coherent Receiver (CR)
high frequency sampling (i.e. Nyquist compliant, fs = 15 GHz)
floating point dynamic range for signal representation
Non-Coherent Receiver (NCR)
low frequency sampling (i.e. much lower than Nyquist frequency)
4-bits dynamic range for signal representation
Described Investigations
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
21
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Indoor environment model:
rectangular room with walls numbered anticlockwise
for the reflected paths, the label of parameters corresponds to that of the interacting wall
Angles of Incidence (AoIs) defined as the angle involved in the reflection
Common Environment Model
11,1,1 , , , rxtx
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
22
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Indoor environment model:
rectangular room with walls numbered anticlockwise
for the reflected paths, the label of parameters corresponds to that of the interacting wall
Angles of Incidence (AoIs) defined as the angle involved in the reflection
Common Environment Model
11,1,1 , , , rxtx
,1tx
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
23
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Indoor environment model:
rectangular room with walls numbered anticlockwise
for the reflected paths, the label of parameters corresponds to that of the interacting wall
Angles of Incidence (AoIs) defined as the angle involved in the reflection
Common Environment Model
11,1,1 , , , rxtx
,1rx
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
24
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Indoor environment model:
rectangular room with walls numbered anticlockwise
for the reflected paths, the label of parameters corresponds to that of the interacting wall
Angles of Incidence (AoIs) defined as the angle involved in the reflection
Common Environment Model
11,1,1 , , , rxtx
22,2,2 , , , rxtx
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
25
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Indoor environment model:
rectangular room with walls numbered anticlockwise
for the reflected paths, the label of parameters corresponds to that of the interacting wall
Angles of Incidence (AoIs) defined as the angle involved in the reflection
Common Environment Model
33,3,3 , , , rxtx
11,1,1 , , , rxtx
22,2,2 , , , rxtx
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
26
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Indoor environment model:
rectangular room with walls numbered anticlockwise
for the reflected paths, the label of parameters corresponds to that of the interacting wall
Angles of Incidence (AoIs) defined as the angle involved in the reflection
Common Environment Model
11,1,1 , , , rxtx
22,2,2 , , , rxtx 44,4,4 , , , rxtx
33,3,3 , , , rxtx
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
27
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Introduction
Problem Statement
State-of-the-art
Proposed Solutions with an UWB Coherent Receiver (CR)
Proposed Solution with an UWB Non-Coherent Receiver (NCR)
Conclusion & Perspectives
Summary
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
28
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Single path in the frequency domain:
generic received path:
Signal Model
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
29
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Single path in the frequency domain:
generic received path:
Signal Model
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
30
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Single path in the frequency domain:
generic received path:
Signal Model
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
31
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Single path in the frequency domain:
generic received path:
antennas filter the pulse feeding the transmitting antenna, depending on DoD ( ) and DoA ( ), in addition to path channel
Signal Model
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
32
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Single path in the frequency domain:
generic received path:
antennas filter the pulse feeding the transmitting antenna, depending on DoD ( ) and DoA ( ), in addition to path channel
Tension of received multipath signal in the time domain:
corresponds to the sum of received paths
with filtered white Gaussian noise and
Signal Model
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
33
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Principles:
a database of templates can be locally built thanks to prior antenna characterization and relying on the previous deterministic model
CR approach (1/2)
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
34
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Principles:
a database of templates can be locally built thanks to prior antenna characterization and relying on the previous deterministic model
CR approach (1/2)
Templates for direct paths
and
single-bounce paths
Templates indexed
by an AoA/AoD
and/or AoI
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
35
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Principles:
a database of templates can be locally built thanks to prior antenna characterization and relying on the previous deterministic model
a good representation (i.e. floating point) of the received signal is available
CR approach (1/2)
0 5 10 15 20 25 30 35-1
-0.5
0
0.5
1
Time [ns]
Receiv
ed t
ensio
n [
mV
]
Received tension only considering direct path and single-bounce paths
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
36
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Principles:
a database of templates can be locally built thanks to prior antenna characterization and relying on the previous deterministic model
a good representation (i.e. floating point) of the received signal is available
the received multipath components are assumed to be detectable thanks to the intrinsic UWB time resolution (i.e. path-by-path approach)
CR approach (1/2)
0 5 10 15 20 25 30 35-1
-0.5
0
0.5
1
Time [ns]
Receiv
ed t
ensio
n [
mV
]
Received tension only considering direct path and single-bounce paths
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
37
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Principles:
each received multipath component is associated to one or more templates through cross-correlation
each received multipath component is associated with a set of transmission parameters (i.e. indexing the local database of templates)
CR approach (2/2)
0 5 10 15 20 25 30 35-1
-0.5
0
0.5
1
Time [ns]
Receiv
ed t
ensio
n [
mV
]
Received tension only considering direct path and single-bounce paths
Multipath component cross-corr
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
38
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Principles:
each received multipath component is associated to one or more templates through cross-correlation
each received multipath component is associated with a set of transmission parameters (i.e. indexing the local database of templates)
CR approach (2/2)
0 5 10 15 20 25 30 35-1
-0.5
0
0.5
1
Time [ns]
Receiv
ed t
ensio
n [
mV
]
Received tension only considering direct path and single-bounce paths
Multipath component cross-corr Template(s)Transmission
parameters
Param a
Param b
ab
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
39
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Principles illustration:
CR approach
0 5 10 15 20 25 30 35-1
-0.5
0
0.5
1
Time [ns]
Receiv
ed t
ensio
n [
mV
]
Received tension only considering direct path and single-bounce paths
Cross-correlation with the local database of predicted
waveforms
0 0 0, ,
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
40
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Principles illustration:
CR approach
0 5 10 15 20 25 30 35-1
-0.5
0
0.5
1
Time [ns]
Receiv
ed t
ensio
n [
mV
]
Received tension only considering direct path and single-bounce paths
Cross-correlation with the local database of predicted
waveforms
0 0 0, ,
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
41
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Principles illustration:
CR approach
0 5 10 15 20 25 30 35-1
-0.5
0
0.5
1
Time [ns]
Receiv
ed t
ensio
n [
mV
]
Received tension only considering direct path and single-bounce paths
1 1 1 1, , ,
Cross-correlation with the local database of predicted
waveforms
0 0 0, ,
1 1 1 1, , , 1 ,1 ,1 1, , , tx rx
Detection order Model order
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
42
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Principles illustration:
CR approach
0 5 10 15 20 25 30 35-1
-0.5
0
0.5
1
Time [ns]
Receiv
ed t
ensio
n [
mV
]
Received tension only considering direct path and single-bounce paths
1 1 1 1, , ,
????
Cross-correlation with the local database of predicted
waveforms
0 0 0, ,
Label mapping ambiguity
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
43
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
The proposed algorithms aim at linking the available sets of transmission parameters to a couple of nodes coordinates and an environment geometry
CR approach
0 0 0, ,
1 1 1 1, , ,
2 2 2 2, , ,
3 3 3 3, , ,
4 4 4 4, , ,
0 5 10 15 20 25 30 35-1
-0.5
0
0.5
1
Time [ns]
Receiv
ed t
ensio
n [
mV
]
Received tension only considering direct path and single-bounce paths
Dx
Dy
1x 2x
1y
2y
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
44
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
The proposed algorithms aim at linking the available sets of transmission parameters to a couple of nodes coordinates and an environment geometry
The error on and depends on the antenna radiation pattern
CR approach
0 5 10 15 20 25 30 35-1
-0.5
0
0.5
1
Time [ns]
Receiv
ed t
ensio
n [
mV
]
Received tension only considering direct path and single-bounce paths
Dx
Dy
1x 2x
1y
2y
0 0 0, ,
1 1 1 1, , ,
2 2 2 2, , ,
3 3 3 3, , ,
4 4 4 4, , ,
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
45
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Tree algorithm for the CR case (1/3)
Transmission parameters (i.e AoIs, AoAs, AoDs and ToAs) are considered as measurements, related to an hidden state
• nodes coordinates and room main dimension are the hidden state variables
Dx
Dy
1x 2x
1y
2y
0 0 0, ,
1 1 1 1, , ,
2 2 2 2, , ,
3 3 3 3, , ,
4 4 4 4, , ,
Parameters measurementsHidden state (i.e. coordinates
and room dimension)
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
46
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Tree algorithm for the CR case (1/3)
Transmission parameters (i.e AoIs, AoAs, AoDs and ToAs) are considered as measurements, related to an hidden state
• nodes coordinates and room main dimension are the hidden state variables
Dx
Dy
1x 2x
1y
2y
0 0 0, ,
1 1 1 1, , ,
2 2 2 2, , ,
3 3 3 3, , ,
4 4 4 4, , ,
Parameters measurements Estimation treeHidden state (i.e. coordinates
and room dimension)
Likelihood-oriented
…
…
a
b
a
c
b
d
e
d
f
e
a
c
b
… b
a
c
d
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
47
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Tree algorithm for the CR case (1/3)
Transmission parameters (i.e AoIs, AoAs, AoDs and ToAs) are considered as measurements, related to an hidden state
• nodes coordinates and room main dimension are the hidden state variables
For instance, the true value of the AoI labeled as 1, according to the wall numbering in the model, is bound up with nodes coordinates as follows:
and the true distance between nodes is simply:
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
48
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Tree algorithm for the CR case (1/3)
Transmission parameters (i.e AoIs, AoAs, AoDs and ToAs) are considered as measurements, related to an hidden state
• nodes coordinates and room main dimension are the hidden state variables
For instance, the true value of the AoI labeled as 1, according to the wall numbering in the model, is bound up with nodes coordinates as follows:
and the true distance between nodes is simply:
The solution detailed in the following does not exploit AoAs and AoDs but only AoIs and ToAs (i.e. MAL, basic algorithm)
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
49
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Tree algorithm for the CR case (2/3)
Assuming a Gaussian centered noise affecting measurements, a likelihood function can be easily built for each path label mapping
All the configurations are equally probable a priori 4
41
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
50
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Tree algorithm for the CR case (2/3)
Assuming a Gaussian centered noise affecting measurements, a likelihood function can be easily built for each path label mapping
The path label mapping ambiguity is solved using Averaged Likelihood Functions (ALFs) ALFs are built as mixtures of likelihood functions, weighting equally each path label
mapping hypothesis
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
51
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Tree algorithm for the CR case (2/3)
Assuming a Gaussian centered noise affecting measurements, a likelihood function can be easily built for each path label mapping
The path label mapping ambiguity is solved using Averaged Likelihood Functions (ALFs) ALFs are built as mixtures of likelihood functions, weighting equally each path label
mapping hypothesis
ALFs are maximized over nodes coordinates and room maindimension
Maximum Averaged Likelihood (MAL) algorithm
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
52
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Tree algorithm for the CR case (3/3)
An extension of MAL algorithm is obtained including AoA and AoD“measurements” (i.e. still through cross-correlation) in the averaged likelihood extended MAL (eMAL)
Both algorithms share a tree approach
0 5 10 15 20 25 30 35-1
-0.5
0
0.5
1
Time [ns]
Receiv
ed t
ensio
n [
mV
]
Received tension only considering direct path and single-bounce paths
Param a
Param b
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
53
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Tree algorithm for the CR case (3/3)
An extension of MAL algorithm is obtained including AoA and AoD“measurements” (i.e. still through cross-correlation) in the averaged likelihood extended MAL (eMAL)
Both algorithms share a tree approach
0 5 10 15 20 25 30 35-1
-0.5
0
0.5
1
Time [ns]
Receiv
ed t
ensio
n [
mV
]
Received tension only considering direct path and single-bounce paths
Param a
Param b
Param a
Param c
Param b
Param d
Param e
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
54
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Tree algorithm for the CR case (3/3)
An extension of MAL algorithm is obtained including AoA and AoD“measurements” (i.e. still through cross-correlation) in the averaged likelihood extended MAL (eMAL)
Both algorithms share a tree approach
0 5 10 15 20 25 30 35-1
-0.5
0
0.5
1
Time [ns]
Receiv
ed t
ensio
n [
mV
]
Received tension only considering direct path and single-bounce paths
Param a
Param b
Param a
Param c
Param b
Param d
Param e
Low averaged likelihood
Low averaged likelihood
Low averaged likelihood
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
55
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Tree algorithm for the CR case (3/3)
An extension of MAL algorithm is obtained including AoA and AoD“measurements” (i.e. still through cross-correlation) in the averaged likelihood extended MAL (eMAL)
Both algorithms share a tree approach
0 5 10 15 20 25 30 35-1
-0.5
0
0.5
1
Time [ns]
Receiv
ed t
ensio
n [
mV
]
Received tension only considering direct path and single-bounce paths
Param a
Param b
Param a
Param c
Param b
Param d
Param e
Param d
Param f
Param e
Param a
Param c
Param b
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
56
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Tree algorithm for the CR case (3/3)
An extension of MAL algorithm is obtained including AoA and AoD“measurements” (i.e. still through cross-correlation) in the averaged likelihood extended MAL (eMAL)
Both algorithms share a tree approach
0 5 10 15 20 25 30 35-1
-0.5
0
0.5
1
Time [ns]
Receiv
ed t
ensio
n [
mV
]
Received tension only considering direct path and single-bounce paths
Param a
Param b
Param a
Param c
Param b
Param d
Param e
Param d
Param f
Param e
Param a
Param c
Param bLow averaged likelihood
Low averaged likelihood
Low averaged likelihood
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
57
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Tree algorithm for the CR case (3/3)
An extension of MAL algorithm is obtained including AoA and AoD“measurements” (i.e. still through cross-correlation) in the averaged likelihood extended MAL (eMAL)
Both algorithms share a tree approach
…
…0 5 10 15 20 25 30 35
-1
-0.5
0
0.5
1
Time [ns]
Receiv
ed t
ensio
n [
mV
]
Received tension only considering direct path and single-bounce paths
Param a
Param b
Param a
Param c
Param b
Param d
Param e
Param d
Param f
Param e
Param a
Param c
Param b
…
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
58
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Tree algorithm for the CR case (3/3)
An extension of MAL algorithm is obtained including AoA and AoD“measurements” (i.e. still through cross-correlation) in the averaged likelihood extended MAL (eMAL)
Both algorithms share a tree approach
…
…0 5 10 15 20 25 30 35
-1
-0.5
0
0.5
1
Time [ns]
Receiv
ed t
ensio
n [
mV
]
Received tension only considering direct path and single-bounce paths
Param a
Param b
Param a
Param c
Param b
Param d
Param e
Param d
Param f
Param e
Param a
Param c
Param b
… Param b
Param a
Param c
Param d
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
59
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Ambiguities inherent to static scenarios
AoAs and AoDs are not a priori distinguishable: channel reciprocity
Tx/Rx ambiguity
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
60
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Ambiguities inherent to static scenarios
AoAs and AoDs are not a priori distinguishable: channel reciprocity
In the lack of global absolute references:
Tx/Rx ambiguity
4-image mirror ambiguity
true
configuration
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
61
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Ambiguities inherent to static scenarios
AoAs and AoDs are not a priori distinguishable: channel reciprocity
In the lack of global absolute references:
Tx/Rx ambiguity
4-image mirror ambiguity
true
configuration
symmetrical with
respect to Y axis
configuration
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
62
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Ambiguities inherent to static scenarios
AoAs and AoDs are not a priori distinguishable: channel reciprocity
In the lack of global absolute references:
Tx/Rx ambiguity
4-image mirror ambiguity
true
configuration
symmetrical with
respect to Y axis
configuration
symmetrical
with respect to
X axis
configurations
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
63
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Ambiguities inherent to static scenarios
AoAs and AoDs are not a priori distinguishable: channel reciprocity
In the lack of global absolute references:
Therefore, in a static scenario with only two peers, without absolute references, the joint anchor-less localization and environment characterization problem is affected by:
• path label mapping ambiguity (to be managed)
• Tx/Rx ambiguity (due to the scenario, not to be managed)
• 4-image mirror ambiguity (due to the absence of absolute references, not to be managed)
Tx/Rx ambiguity
4-image mirror ambiguity
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
64
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Results in the CR case
Tx/Rx and 4-mirror image ambiguities are compensated by a genius
• MAL and eMAL algorithms are just in charge of solving the path label mappingambiguity
1 1 1 1, , ,
????
Detection order Model order
Label mapping ambiguity
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
65
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Results in the CR case
Tx/Rx and 4-mirror image ambiguities are compensated by a genius
• MAL and eMAL algorithms are just in charge of solving the path label mappingambiguity
Estimation results obtained with a small, light and cheap antenna (i.e. Middle Alva):
MAL algorithm (i.e. AoA
and AoD information is
omitted)
extended MAL algorithm
(i.e. AoA and AoD
information is considered)
MAL positioning error CDF
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
66
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Results in the CR case
Tx/Rx and 4-mirror image ambiguities are compensated by a genius
• MAL and eMAL algorithms are just in charge of solving the path label mappingambiguity
Estimation results obtained with a small, light and cheap antenna (i.e. Middle Alva):
MAL algorithm (i.e. AoA
and AoD information is
omitted)
extended MAL algorithm
(i.e. AoA and AoD
information is considered)
eMAL positioning error CDF
MAL positioning error CDF
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
67
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Results in the CR case
Tx/Rx and 4-mirror image ambiguities are compensated by a genius
• MAL and eMAL algorithms are just in charge of solving the path label mappingambiguity
Estimation results obtained with a small, light and cheap antenna (i.e. Middle Alva):
eMAL positioning error CDF
MAL positioning error CDF
Room dimension error CDF
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
68
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
CR case results: discussion
The previous results are best case results, as they assume a perfect compensation of Tx/Rx and 4-image mirror ambiguities
Tx/Rx ambiguity is expected to be (partially) solved by mobility
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69
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
CR case results: discussion
The previous results are best case results, as they assume a perfect compensation of Tx/Rx and 4-image mirror ambiguities
Tx/Rx ambiguity is expected to be (partially) solved by mobility
Coherent Receiver case assumes a high complexityreceiver
• very high frequency sampling and floating point precision are beyondthe State-of-the-Art of technology
Paths generally overlap, making the estimation of transmission parameters very challenging
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70
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Introduction
Problem Statement
State-of-the-art
Proposed Solutions with an UWB Coherent Receiver (CR)
Proposed Solution with an UWB Non-Coherent Receiver (NCR)
Conclusion & Perspectives
Summary
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71
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Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
NCR case: principles (1/3)
Does the problem have a solution in the frame of the IEEE802.15.4a standard?
• bandwidth compliance, measurement refresh period, Pulse Repetition Period (PRP)
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72
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
NCR case: principles (1/3)
Does the problem have a solution in the frame of the IEEE802.15.4a standard?
• bandwidth compliance, measurement refresh period, Pulse Repetition Period (PRP)
Can the problem be solved targeting low power consumptionand low system complexity?
• State-of-the-Art sampling frequency is lower than 1 GHz
• for the sake of power consumption limitation, the Analog to Digital Converter (ADC) should have less than 6 bits
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73
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
NCR case: principles (1/3)
Does the problem have a solution in the frame of the IEEE802.15.4a standard?
• bandwidth compliance, measurement refresh period, Pulse Repetition Period (PRP)
Can the problem be solved targeting low power consumptionand low system complexity?
• State-of-the-Art sampling frequency is lower than 1 GHz
• for the sake of power consumption limitation, the Analog to Digital Converter (ADC) should have less than 6 bits
The Non-Coherent Receiver case assumes a low complexityreceiver, according to current State-of-the-Art
• under-Nyquist sampling frequency (i.e. 250 MHz)
• 4-bits precision of dynamic range
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74
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Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
NCR case: principles (2/3)
The Energy Detection (ED) receiver satisfies the low complexity and low sampling frequency requirements
MHz250sf
bits4bitsN
dB10NF
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75
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
NCR case: principles (3/3)
Because of the poor signal representation available, onlythe estimated paths ToAs are considered no need for a database of templates
Path overlapping still must be treated
True ToA
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76
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
NCR case: principles (3/3)
Because of the poor signal representation available, onlythe estimated paths ToAs are considered no need for a database of templates
Path overlapping still must be treated
In order to solve the Tx/Rx remaining ambiguity, a dynamicscenario has to be considered
The Kalman Filter (KF) is a natural solver for a mobile estimation problem
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77
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Tracking Algorithm (1/2)
ToAs of direct path and single-bounce paths considered as measurements making up the observation vector
Nodes coordinates and room dimensions are the hidden state variables to be estimated
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78
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Tracking Algorithm (1/2)
ToAs of direct path and single-bounce paths considered as measurements making up the observation vector
Nodes coordinates and room dimensions are the hidden state variables to be estimated
The hidden state variables are linked to measurements through non-linear (i.e. trigonometric) equations
The innovation is a function of the a priori predicted state and current observation :
with the innovation covariance matrix
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79
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Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Tracking Algorithm (2/2)
Path label mapping is treated considering the conditional decision variable
that is a Chi-Square variable with 5 degrees of freedom
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80
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Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Tracking Algorithm (2/2)
Path label mapping is treated considering the conditional decision variable
that is a Chi-Square variable with 5 degrees of freedom
Among the 4! = 24 possible path label mappings, the selected one at each time step is taken as the one showing the highest likelihood
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81
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Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Tracking Algorithm Results (1/3)
Tracking assumption: assumed initial conditions close to real initial conditions unbiased ToAs estimation
X coordinate estimation for Tx X coordinate estimation for Rx
10 20 30 40 50 60 70 80 90 1000
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Discrete time step
Tx n
orm
aliz
ed x
coord
inate
Tx normalized x coordinate, fs = 0.25 GHz
0.05
0.1
0.15
0.2
0.25
0.3
0.35
0.4
0.45
0.5
0.55
True values
Mirror values
10 20 30 40 50 60 70 80 90 1000
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Discrete time stepR
x n
orm
aliz
ed x
coord
inate
Rx normalized x coordinate, fs = 0.25 GHz
0.05
0.1
0.15
0.2
0.25
0.3
0.35
0.4
0.45
True values
Mirror values
PDFs of estimated X coordinates as functions of the time step
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82
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Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Tracking Algorithm Results (2/3)
Tracking assumption: assumed initial conditions close to real initial conditions unbiased ToAs estimation
Y coordinate estimation for Tx Y coordinate estimation for Rx
10 20 30 40 50 60 70 80 90 1000
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Discrete time stepR
x n
orm
aliz
ed y
coord
inate
Rx normalized y coordinate, fs = 0.25 GHz
0.05
0.1
0.15
0.2
0.25
0.3
0.35
0.4
0.45
0.5
True values
Mirror values
10 20 30 40 50 60 70 80 90 1000
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Discrete time step
Tx n
orm
aliz
ed y
coord
inate
Tx normalized y coordinate, fs = 0.25 GHz
0.05
0.1
0.15
0.2
0.25
0.3
0.35
0.4
0.45
0.5
True values
Mirror values
PDFs of estimated Y coordinates as functions of the time step
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83
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Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Tracking Algorithm Results (2/3)
Tracking assumption: assumed initial conditions close to real initial conditions unbiased ToAs estimation
Y coordinate estimation for Tx Y coordinate estimation for Rx
Joint effect of
Tx/Rx and mirror ambiguities on coordinates
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84
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Tracking Algorithm Results (3/3)
Tracking assumption: assumed initial conditions close to real initial conditions unbiased ToAs estimation
Dx estimation RD estimation
10 20 30 40 50 60 70 80 90 1001
1.1
1.2
1.3
1.4
1.5
1.6
1.7
1.8
1.9
2
Discrete time stepR
D v
alu
e
Room ratio RD, f
s = 0.25 GHz
0.05
0.1
0.15
0.2
0.25
0.3
0.35
0.4
0.45
0.5
0.55
True values
10 20 30 40 50 60 70 80 90 1004
4.5
5
5.5
6
6.5
7
7.5
8
Discrete time step
Dx v
alu
e [
m]
Room main dimension Dx, f
s = 0.25 GHz
0.05
0.1
0.15
0.2
0.25
0.3
0.35
0.4
0.45
0.5
0.55
True values
PDFs of estimated room parameters as functions of the time step
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85
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Tracking Algorithm Results (3/3)
Tracking assumption: assumed initial conditions close to real initial conditions unbiased ToAs estimation
Dx estimation RD estimation
Environment variables are “locked”
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86
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Introduction
Problem Statement
State-of-the-art
Proposed Solutions with an UWB Coherent Receiver (CR)
Proposed Solution with an UWB Non-Coherent Receiver (NCR)
Conclusion & Perspectives
Summary
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87
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Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Conclusion
Conclusions :
• joint anchor-less localization and environment characterization is a challenging problem when only two SISO peers are considered
lots of ambiguities affect the estimation
once the ambiguities are removed, the estimates of the room main dimension and of the nodes positions may be reliable enough
• some techniques have been proposed to handle path label mappingambiguity
• the effect of 4-mirror image and Tx/Rx ambiguities on estimation has been investigated
1 1 1 1, , ,
????
Label mapping ambiguity
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88
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Conclusion
Conclusions :
• joint anchor-less localization and environment characterization is a challenging problem when only two SISO peers are considered
lots of ambiguities affect the estimation
once the ambiguities are removed, the estimates of the room main dimension and of the nodes positions may be reliable enough
• some techniques have been proposed to handle path label mappingambiguity
• the effect of 4-mirror image and Tx/Rx ambiguities on estimation has been investigated
• under more realistic assumptions (e.g. low complexity, IEEE 802.15.4a standard compliance) encouraging results as regards to nodes tracking (i.e. when assuming an initial state close enough to the true initial state and with unbiased ToAs estimates)
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89
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Perspectives
Perspectives:
• studying the impact of using an improper database of templates
arbitrary elevation of the antennas
imperfect knowledge of the prior antenna and/or material characterization
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90
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Perspectives
Perspectives:
• studying the impact of using an improper database of templates
arbitrary elevation of the antennas
imperfect knowledge of the prior antenna and/or material characterization
• extending the algorithms to a sensor network with more than 2 nodes(i.e. measurement redundancy) and evaluating cooperative approaches for obtaining floor maps (i.e. sharing and merging of local information)
• investigating the NLOS case (i.e. filtering effects induced by transmission) and denser multipath profiles
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91
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Perspectives
Perspectives:
• studying the impact of using an improper database of templates
arbitrary elevation of the antennas
imperfect knowledge of the prior antenna and/or material characterization
• extending the algorithms to a sensor network with more than 2 nodes(i.e. measurement redundancy) and evaluating cooperative approaches for obtaining floor maps (i.e. sharing and merging of local information)
• investigating the NLOS case (i.e. filtering effects induced by transmission) and denser multipath profiles
• demonstrating the benefits of a raw knowledge of the indoor environment for the network optimization (e.g. context-aware routing protocols)
• compare estimation results obtained considering real measurements with them issued from simulations
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92
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Publications et Patents
Communications accepted to international conferences:
• V. La Tosa, B. Denis, B. Uguen, “Impact of Antennas on the Anchor-less Indoor Localization of a Static IR-UWB Pair”, IEEE PIMRC 2010, Istanbul, September 2010
• V. La Tosa, B. Denis, B. Uguen, “Maximum Averaged Likelihood Estimation Tree for Passive Localization Exploiting IR-UWB Multipath”, IEEE VTC-Spring’10, Taipei, May 2010
• V. La Tosa, B. Denis, B. Uguen, “A Preliminary Investigation on Angular Parameters Estimation in a Simplified IR-UWB Indoor Multipath Scenario”, IEEE WCNC’09, Budapest, April 2009
• V. La Tosa, B. Denis, F. Tchoffo-Talom, B. Uguen, “Joint Directions Finding and Material Typecasting through UWB Wireless Communications”, IEEE PIMRC’08, Cannes, September 2008
• V. La Tosa, B. Denis, B. Uguen, “Direct Path DoA and DoD Finding Through IR-UWB Communications”, IEEE ICUWB’08, Hanover, September 2008
PCT Patent:
• V. La Tosa, B. Denis, F. Tchoffo-Talom, B. Uguen, “Method and System for Aiding Environmental Characterization by Ultra Wide Band Radiofrequency Signals”, patent id PCT/EP2008/067569, November 2009
European project deliverables:
• V. La Tosa, et al., Deliverable 4.1.1 of European project ICT IP « eUWB », April 2009
• V. La Tosa, et al., Deliverable 4.1.2a of European project ICT IP « eUWB », May 2010
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93
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Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
2010
vincenzo.latosa@gmail.com
Thank you for your attention
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94
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Direct path parameters estimation results
Going further…
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95
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
AoD-AoA joint error
Ep/N0 = 20 dB: CM antenna (a)
Cardioid antenna (b)
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96
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Material recognition success rates
under square room assumption
Going further…
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97
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Material Typecasting
Material recognition success rates:
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98
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Parameters estimation
under rectangular room assumption
Going further…
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99
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Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
AoD-AoA joint error
PDFs of the AoIs in a rectangular room: largest edges (a)
smallest edges (b)
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100
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Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Multipath Components
Cleaning Process
with Rejection Window
Going further…
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101
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Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Iteration 1
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102
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Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Iteration 2
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103
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Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Iteration 3
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104
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
UWB Measurements
at Université de Rennes 1
(WHERE project)
Going further…
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
105
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
True track
RSS+TOA, EKF
FP (PDP), EKF
RSS+TOA+FP, EKF
UWB FP (5 Est. Path [TOA + Amp] wrt. 2 Rxs), EKFUWB FP (5 Est. Path [TOA + Amp] wrt. 4 Rxs), EKF
UWB Rx References (RSS/TOA/UWB FP)Base Station (FP Only)
0 10 20 30 40 50 60 70 80 90
0
2
4
Time [s]
Positio
n e
rror
[m]
RSS+TOA, EKF
FP (PDP), EKF
RSS+TOA+FP(PDP), EKF
UWB FP (5 Est. Paths wrt. 2 Rxs), EKFUWB FP (5 Est. Path wrt. 4 Rxs), EKF
True track
RSS+TOA, EKF
FP (PDP), EKF
RSS+TOA+FP, EKF
UWB FP (5 Est. Path [TOA + Amp] wrt. 2 Rxs), EKF
UWB FP (5 Est. Path [TOA + Amp] wrt. 4 Rxs), EKF
UWB Rx References (RSS/TOA/UWB FP)
Base Station (FP Only)
0 10 20 30 40 50 60 70 80 900
2
4
Time [s]
Positio
n e
rror
[m]
RSS+TOA, EKF
FP (PDP), EKF
RSS+TOA+FP(PDP), EKF
UWB FP (5 Est. Paths wrt. 2 Rxs), EKF
UWB FP (5 Est. Path wrt. 4 Rxs), EKF
UWB measurements
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
106
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Real measurements of a mobile UWB channel
Acquisition time window
Tx p
ositio
n
(tra
jecto
ry)
True track
RSS+TOA, EKF
FP (PDP), EKF
RSS+TOA+FP, EKF
UWB FP (5 Est. Path [TOA + Amp] wrt. 2 Rxs), EKFUWB FP (5 Est. Path [TOA + Amp] wrt. 4 Rxs), EKF
UWB Rx References (RSS/TOA/UWB FP)Base Station (FP Only)
0 10 20 30 40 50 60 70 80 90
0
2
4
Time [s]
Positio
n e
rror
[m]
RSS+TOA, EKF
FP (PDP), EKF
RSS+TOA+FP(PDP), EKF
UWB FP (5 Est. Paths wrt. 2 Rxs), EKFUWB FP (5 Est. Path wrt. 4 Rxs), EKF
Energ
ie R
eçue (d
B)
UWB measurements
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
107
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Deterministic simulations, i.e. Ray-Tracing toolReal measurements of a mobile UWB channel
Acquisition time window
Tx p
ositio
n
(tra
jecto
ry)
True track
RSS+TOA, EKF
FP (PDP), EKF
RSS+TOA+FP, EKF
UWB FP (5 Est. Path [TOA + Amp] wrt. 2 Rxs), EKFUWB FP (5 Est. Path [TOA + Amp] wrt. 4 Rxs), EKF
UWB Rx References (RSS/TOA/UWB FP)Base Station (FP Only)
0 10 20 30 40 50 60 70 80 90
0
2
4
Time [s]
Positio
n e
rror
[m]
RSS+TOA, EKF
FP (PDP), EKF
RSS+TOA+FP(PDP), EKF
UWB FP (5 Est. Paths wrt. 2 Rxs), EKFUWB FP (5 Est. Path wrt. 4 Rxs), EKF
True track
RSS+TOA, EKF
FP (PDP), EKF
RSS+TOA+FP, EKF
UWB FP (5 Est. Path [TOA + Amp] wrt. 2 Rxs), EKF
UWB FP (5 Est. Path [TOA + Amp] wrt. 4 Rxs), EKF
UWB Rx References (RSS/TOA/UWB FP)
Base Station (FP Only)
0 10 20 30 40 50 60 70 80 900
2
4
Time [s]
Positio
n e
rror
[m]
RSS+TOA, EKF
FP (PDP), EKF
RSS+TOA+FP(PDP), EKF
UWB FP (5 Est. Paths wrt. 2 Rxs), EKF
UWB FP (5 Est. Path wrt. 4 Rxs), EKF
Energ
ie R
eçue (d
B)
UWB measurements
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
108
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
True track
RSS+TOA, EKF
FP (PDP), EKF
RSS+TOA+FP, EKF
UWB FP (5 Est. Path [TOA + Amp] wrt. 2 Rxs), EKFUWB FP (5 Est. Path [TOA + Amp] wrt. 4 Rxs), EKF
UWB Rx References (RSS/TOA/UWB FP)Base Station (FP Only)
0 10 20 30 40 50 60 70 80 90
0
2
4
Time [s]
Positio
n e
rror
[m]
RSS+TOA, EKF
FP (PDP), EKF
RSS+TOA+FP(PDP), EKF
UWB FP (5 Est. Paths wrt. 2 Rxs), EKFUWB FP (5 Est. Path wrt. 4 Rxs), EKF
UWB measurements
Deterministic simulations, i.e. Ray-Tracing toolReal measurements of a mobile UWB channel
Acquisition time window
Tx p
ositio
n
(tra
jecto
ry)
True track
RSS+TOA, EKF
FP (PDP), EKF
RSS+TOA+FP, EKF
UWB FP (5 Est. Path [TOA + Amp] wrt. 2 Rxs), EKF
UWB FP (5 Est. Path [TOA + Amp] wrt. 4 Rxs), EKF
UWB Rx References (RSS/TOA/UWB FP)
Base Station (FP Only)
0 10 20 30 40 50 60 70 80 900
2
4
Time [s]
Positio
n e
rror
[m]
RSS+TOA, EKF
FP (PDP), EKF
RSS+TOA+FP(PDP), EKF
UWB FP (5 Est. Paths wrt. 2 Rxs), EKF
UWB FP (5 Est. Path wrt. 4 Rxs), EKF
Energ
ie R
eçue (d
B)
Multipath signal can be reliably predicted
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
109
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
Simulation parameters
for MAL and eMAL
algorithms
Going further…
© CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA
All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA
110
2007
Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10
MAL and eMAL parameters
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