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WPI Precision Personnel Location System: Automatic Antenna Geometry Estimation
Benjamin WoodacreElectrical and Computer Engineering
Worcester Polytechnic InstituteWorcester, Massachusetts
funded byUS Department of Justice
National Institute of Justice
March 19, 2008
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The PPL Team
Research Assistants Jack Coyne* Hauke Daempfling* Jason Farmer* Jason Huang* Shashank Kulkarni* Hemish Parikh Ben Woodacre Vincent Amendolare David Holl* Vivek Varshney Jorge Alejandro Tahsin Hassan Ishrak Khair Tanvir Madan David Hubelbank
Faculty David Cyganski R. James Duckworth Sergey Makarov William Michalson John OrrTechnician Bob Boisse
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Outline
PPL System Overview Background System hardware Transmitter location results
Geometric Auto Configuration (GAC) Ranging technique Antenna geometry estimation Results: outdoor, indoor, around bldg.
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PositionFinding Technology for Emergency Personnel is a Critical Need
12/3/99: Six firefighters died in a warehouse fire literally within a few feet of safety in Worcester, MA.
9/11/01: A disaster of far greater magnitude, with some deaths in circumstances similar to the Worcester warehouse fire
NFPA: lost/trapped 3rd ranking cause of fatalitiesCurrent emergency responder escape technology:
Audio alarms which sound upon lack of motion Homing devices (Ultrasonic, RF) becoming available
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WPI PPL Goal
A location and tracking system which displays locations, paths, and landmarks
(exits, waypoints, etc.) for multiple responders in 3 dimensions, requiring no preinstalled infrastructure and minimal setup
Must be transparent to usersSolution: geometric auto configuration (GAC)
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Apply new WPI multicarrier approach to achieve the necessary precision with low bandwidth, flexible spectral footprint
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System Overview
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System Overview
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Locator Operational/Physical Specs
Transmit ranging signal Up to 150 MHz bandwidth
• programmable waveform Support 100 locators Updates each second
Low power, long battery life, automatic on/off Monitor and report environmental status data
Temperature, movement, diagnostics Provide distress button Small size, lightweight Provide support for Physiological data
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Current Locator Hardware
Distress Button
Accelerometer
Transceiver Module
PC Interface
Temperature Sensor
Microprocessor
RF Hardware Interface
PC Interface
Accelerometer
Temp. Sensor
Distress Button
Microprocessor
Interfaceto RF
Hardware
RF Data Channels
Heart Rate
Monitor
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Custom FPGA based Software Radios
FPGA Digital Controller board
Analog to Digital board
RF Front End board
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Antenna Design and Testing
Several innovations have been introduced in small, wideband, nearomni directional, multipolarization patch and base antennas
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Antenna Concept for Fire Trucks
Patch Antennas
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System Hardware
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Videos
Live system operationRealtime tracking displayNew display integrating tracking and
physiological status monitoring/reporting
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System Concept and Display
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Location System Performance Review
Different Scenarios Outdoor to Indoor Indoor to Indoor Around Building
Our system has demonstrated submeter accuracy in location estimation in all these configurations
The location performance sets the bar for the performance of GAC
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2005: Outdoor 2D TDOA results
Our new multicarrier (MC) signal structure and processing approach theoretically provides high accuracy ranging data with low bandwidth and spectral flexibility
Outdoor tests proved that our approach could achieve high precision results with low bandwidth
Only classic radio location algorithms were applied to the new ranging data
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New endtoend method developed
Previous papers document results from a new location method developed by WPILocation system does not use TDOA or other classic triangulationinspired technique
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Throughwall/High Multipath DemoAntennas on 3 sides WPI Civil Eng. Building – poor geometry
Antennas facing directly into brick walls
No system training information or presited devices
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Kaven Hall Geology lab test site2006 Live Demo site was WPI Civil Eng. Geology Lab.
Steel Frame and concrete block construction with heavy equipment and metal cabinets.
2006 test achieved 1 m average abs. error using 30 MHz signal.
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Effects of Increased Bandwidth
410470MHz Middle Slice
Mean Error 20MHz: 2.32m 30MHz: 1.00m 40MHz: 0.87m 50MHz: 0.58m 60MHz: 0.5m, improved SP:
0.37m
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Another Building Test – AK317 (Harsh Indoor RF Environment) !
Metal ceilingMetal benches
and cabinetsMesh WindowsMetal backed
black/white boardsFire DoorsMetal studded
walls – 16 inch spacing!
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Building Test Error Plots
Approx 40ft by 50ft
60MHz BWMean Error
0.71m
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Residential Building Tests
16 by 14 m coverage
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New TV band 150 MHz/3D antennas
2nd floor error: 0.3m 1st floor error: 0.72m
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Results Summary
Test Location Error BandwidthKaven Hall 0.37m 60 MHzAtwater Kent, indoor 0.71m 60 MHzAtwater Kent 1.08m 60 MHzCampus Ministry 1st fl. 0.59m 60 MHzCampus Ministry 2nd fl. 0.72m 60 MHzCampus Ministry 1st fl. 0.72m* 150 MHzCampus Ministry 2nd fl. 0.30m 150 MHz
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Geometric Auto Configuration
Prerequisite to any location solutions
Multicarrier range estimationMultidimensional scalingExperimental results
Outdoor Indoor, unobstructed line of
sight Aroundbuilding
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Ranging Signal
Multicarrier ranging signal
Typically 50 carriers Bandwidths of about
25150 MHz Multipathresistant Processed by custom
algorithms Generated digitally Spectrally friendly
Band Lower Freq. (MHz)
Upper Freq. (MHz)
1 410 4702 512 6083 614 698
WPI Software Radio Capability
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Range Estmation
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φ=Aej2π t+td f k
Every signal path contributes a sinusoid of a different period to the channel response
Multipath easily separable
Achieves the CramerRao bound frequency est.
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Target antenna geometry scenario
Antenna spatial diversity primarily in two dimensions
30x30 meter areaAssume knowledge
of antennas on the same firetruck
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Range distortionAntenna transfer function angle dependence causes
distortion of range estimatesMeasured in two configurations for UHF Antennas:
Bowtie (wideband dipole) Conformal Patch suited for firetrucks
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Bowtie Range Distortion
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Bowtie antennas show very little range distortion for a wide variety of angles
Not conformal
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Patch Range Distortion
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Firstorder effects of antenna pattern distortion
Likely contributing source of error for range estimation with patch antennas
SNR drop at extreme angles make results there less trustworthy
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Multidimensional Scaling (MDS)
Used to reduce dimensionality of data while preserving original relationships
Classic example: Distances between citiesDirect MDS relates the inner product of the
true coordinates to the centered square of the distance matrix via an eigen (or singular) value decomposition:
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Our Implementation of MDS
MATLAB’s mdscale() routine implements an iterative MDS solver
Allows weighting and missing dataSpecification of initial solution guessConvergence to a solution may occur with
as little as 26% of data availableAbility for missing data convergence
allows plotting errors with respect to a “difficulty factor”
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GAC Performance Measurement
Antennas placed along perimeter of area of operations, some hard to range to
Evaluate performance wrt ranging difficulty
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Outdoor Testing without multipath
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Indoor test, unobstructed lineofsight
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Indoor, unobstructed lineofsight
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Around Building Test
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Coming Soon...
Paper documenting our new approach to precision location
Different approaches to GAC Manual: 0.13m, novel GAC: 0.41m
WPI hosting 3rd annual workshop on Precision Indoor Personnel Location and Tracking for Emergency Responders in August 2008 in Worcester, Mass.
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WPI Workshop 2007
Over 100 attendees Presentations, demos,
working sessions 2008 – workshop
August 4,5
Workshop Participants
Industry49%
Fire Service12%
Academ ia22%
Governm ent17%
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WPI PPL Website
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WPI PPL Website
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WPI Precision Personnel Locator
Acknowledgments The rest of the WPI team Worcester Fire Department The support of the National Institute of
Justice of DOJ
Thank you! Benjamin Woodacre, [email protected] www.ece.wpi.edu/Research/PPL