csi5169-indoor localization-zhang zhang(7059407) (1)
DESCRIPTION
tttTRANSCRIPT
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Outline• Introduction
– Definition– Important parameters
• Indoor Localization Methods– Proximity Detection– Triangulation– Scene Analysis
• Indoor Localization Systems– Proximity Based– RF Based– Cameras Based
• Comparison of Common Indoor Localization Systems
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Introduction - Defination
Def. Wirelessly locate objects or people inside a building in real time.
• Indoor Positioning Systems (IPS)• Real-time Locating Systems (RTLS)
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Introduction - Important Parameters
• Accuracy
• Coverage
• Availability
• Update Rate
• Line of Sight (LoS) and Non Line of Sight (NLoS)
• Costs and System Complexity
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Introduction - LoS / NLoS
• Line of Sight (LoS) and Non Line of Sight (NLoS)
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Indoor Localization Methods / Algorithm
Methods/Algorithm
Proximity / CoO Triangulation Scene Analysis
Direction based Distance based
Angle based Time basedSignal Property
based
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Proximity Detection: Sensors detect and measure reflected Infrared or visiable light or RF wave to detect the presence of an object or person in certain areas.
• Highest Received Signal Strength = Highest Probability
Methods / Algorithm - Proximity / Cell of Origan
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Advantages• No complicated algorithms• Easy to implement• Low cost
Disadvantages• Low accuracy - room level• Identification problem
Methods / Algorithm - Proximity / Cell of Origan
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ToA: Time of Arrival
• The precise measurement of the arrival time of a signal transmitted from a mobile device to several receiving sensors. • The distance between the mobile device and each receiving sensor can be determined.
Methods / Algorithm - Time based
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Advantages• High Accuracy• 2D / 3D
Disadvantages• Precise time synchronization (1 micro-second, 300m error)• Solutions are typically challenged in environments where a large amount of multipath or interference may exist.
Methods / Algorithm - Time based - ToA
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TDoA: Time Difference of Arrival
• Using relative Arrival time measurements at each receiving sensor• The synchronization between tag and each sensor is not necessary
Example: • TXC - TXA = 10-8s• TDoAC_A
• TXB - TXA = 10-7s• TDoAB_A
Methods / Algorithm - Time based - TDoA
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AoA/DoA: Angle of Arrival / Direction of Arrival (DoA)
• Determining the angle of incidence at which signals arrive at the receiving sensor.
Methods / Algorithm - Angle based - AoA
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Methods / Algorithm - Angle based - AoA
More sensors = Higher accuracy
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Advantages• No synchronization requirement• Works well in situations with direct line of sight
Disadvantages• Susceptibility to multipath interference
Methods / Algorithm - Angle based - AoA
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Signal attenuation can be exploited for distance estimation.
Methods / Algorithm - Signal Property Based
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RSS: Based on the attenuation model, the Received Signal Strength can be used to estimate the distanced of a person or a mobile object.
• PR: Received signal strength at the receiver• PT: Transmitted power strength at the emitter• GT GR: Antenna gains of transmitter and receiver• d: Distance• P: The path loss factor
Methods / Algorithm - Signal Property Based
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The path loss factor (P) is related to the environmental conditions P = 2 for free space P > 2 for environments with NLoS multipath P ≈ (4 - 6) for typical indoor environments
In real world application, interference, multipath propagation and presence of obstacles and people leads to a complex spatial distribution of RSS.
RSS Indicator (RSSI): averaged PR over a certain sampling period
Methods / Algorithm - Signal Property Based
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Off-Line
Methods / Algorithm - Fingerprinting
Database
S1
S2
S3
...
S72
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M(-35, -50, -48, -60, -58,-24) vs. Database
Methods / Algorithm - Fingerprinting
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Advantages• High accuracy• NLoS
Disadvantages• Complicated algorithms• Not easy to implement• High cost
Methods / Algorithm - Fingerprinting
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Indoor Localization Systems
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WIFI: (a superset of IEEE 802.11 standard) can be used to estimate the location of a mobile device within this network.
Indoor Localization Systems - WIFI
WIFI
Range 50-100m
Accuracy 1m
MethodRSSI Fingerprinting ,
TDoA
NLOS/LOS NLOS
ApplicationOffice Space,
Person, Objects
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RFID (Radio Frequency IDentification) system consists of readers with antennas which interrogates nearby active transceivers or passive tags.
Indoor Localization Systems - RFID
RFID Active Passive
Range 10-100m 1-5m
Accuracy 1m 0.2m
MethodRSSI Fingerprinting,
TDoAAoA, TDoA
NLOS/LOS NLOS LOS
Application Moving Objects Assembly Industry
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ZigBee is a wireless technology particularly designed for applications which demand low power consumption and low data transmission.
Indoor Localization Systems - ZigBee
ZigBee
Range 20-30m
Accuracy 2m
Method RSSI
NLOS/LOS NLOS
ApplicationWarehouse
management
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• Images → Cameras
• Cameras → Database
• Database → Virtual Map
Indoor Localization Systems - Cameras
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Systems Accuracy Coverage Methods NLoS/LosPower
ConsumeCost Remarks
GPS 10-50mPoor
IndoorToA NLoS High High Unstable
Proximity 3-5mRoom level
Proximity LoS Low Low ID?
Cameras Networks
0.5mBuilding
levelScene Analysis LoS Low High ID?
WIFI 1mBuilding
level
RSSI Fingerprinting
/TDoANLoS High High
WIFI Covered
RFID
(Active)1m
Building level
RSSI Fingerprinting
NLoS Med MedLong
Distance
RFID
(Passive)0.2m
Room level
TDoA/ AoA LoS Low LowNo Data
Exchange
Bluetooth 1-2mBuilding
levelRSSI
FingerprintingNLoS Low Med
High Data
Rate
ZigBee 2mBuilding
levelRSSI
FingerprintingNLoS Low Low
Low Data Rate
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References
[1] Z. Farid, R. Nordin, and M. Ismail, "Recent Advances in Wireless Indoor Localization Techniques and Systems," Journal of Computer Networks and Communications, vol. 2013, 2013.
[2] R. Mautz, "Indoor positioning technologies," Habilitation Thesis, Department of Civil, Environmental and Geomatic Engineering, Institute of Geodesy and Photogrammetry, Habil. ETH Zürich, Zurich, 2012.
[3] H. Koyuncu and S. H. Yang, "A survey of indoor positioning and object locating systems," IJCSNS International Journal of Computer Science and Network Security, vol. 10, pp. 121-128, 2010.
[4] A. Aboodi andW. Tat-Chee, “Evaluation ofWiFi-based indoor (WBI) positioning algorithm,” in Proceedings of the 3rd FTRA International Conference on Mobile, Ubiquitous, and Intelligent Computing (MUSIC ’12), pp. 260–264, June 2012.
[5] S. Chan and G. Sohn, ¡°Indoor localization using Wi-Fi based fingerprinting and trilateration techiques for LBS applications,¡± in Proceedings of the 7th International Conference on 3D Geoinformation, Quebec, Canada, May 2012.
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Question 1The RSSI pattern is shown below.• 3 Wifi routers• 9 refernces points
Q: Where is M(1.2, 2.6, 4.5) in this pattern?
5
2 1
3
4 1
1
4 2
5
2 1
2
3 3
1
3 3
3
1 2
1
1 3
1
2 5
1
2 3
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Question 1
Q: Where is M(1.2, 2.6, 4.5) in this pattern?
A: Measured RSSI of Wifi one is 1.2. Red zone (referenced RSSI of Wifi one is 1) are possible locations.
5
2 1
3
4 1
1
4 2
5
2 1
2
3 3
1
3 3
3
1 2
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1 3
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2 5
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Question 1
5
2 1
3
4 1
1
4 2
5
2 1
2
3 3
1
3 3
3
1 2
1
1 3
1
2 5
1
2 3
Q: Where is M(1.2, 2.6, 4.5) in this pattern?
A: Measured RSSI of Wifi two is 2.6. Green zone (referenced RSSI of Wifi two is 3) are possible locations.
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Question 1
5
2 1
3
4 1
1
4 2
5
2 1
2
3 3
1
3 3
3
1 2
1
1 3
1
2 5
1
2 3
Q: Where is M(1.2, 2.6, 4.5) in this pattern?
A: Measured RSSI of Wifi three is 4.5. Blue zone (referenced RSSI of Wifi two is 5) are possible locations. The intersection of three zones is the location of M.
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Question 2The RSSI pattern is shown above.• 3 Wifi routers• 9 refernces points
Q: Where is M(5, 2, 1) in this pattern? Is there any methods to increase the acceracy by optimizeing the system?
5
2 1
3
4 1
1
4 2
5
2 1
2
3 3
1
3 3
3
1 2
1
1 3
1
2 5
1
2 3
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Question 2Q: Is there any methods to increase the acceracy of this system?
A: More Wifi routers, more reference points.
1
2
4
1
4
2 3
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Question 3
A company with 3 buildings.• Building A: Working Office (Wifi coverd)• Building B: Assembly lines• Building C: Warehouse
Q: Building A: Locating persons + high rate data transmission Building B: Accurate positioning products + no data transmission Building C: Locating forklifts + low rate data transmission Which indoor localization system will you choose for Building A, Building B, Building C, respectively? why?
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Question 3
A company with 3 buildings.• Building A: Working Office (Wifi coverd)• Building B: Assembly lines• Building C: Warehouse
Q: Building A: Locating persons + high rate data transmission Building B: Accurate positioning products + no data transmission Building C: Locating forklifts + low rate data transmission Which indoor localization system will you choose for Building A, Building B, Building C, respectively? why?
Answers: • A: WIFI. Wife covered, high data rate, mobile phone.• B: RFID(Passive). Small tag size, high acceracy, low cost.• C: ZigBee. Low power consumption, low cost, low data rate
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Thank you!Thank you!