navigation and instrumentation research groupainegypt.org/event/papers/ahmed tarek -...

Ahmed Tarek1, Basem Amer2, Prof. Aboelmagd Noureldin3

Navigation and Instrumentation Research Group1 College of Engineering & Technology , Arab Academy for Science & Technology, Egypt.2 Sabratha Engineering College, Az-zawia University, Libya3 Royal Military College of Canada | Queen’s University, Canada

Intelligent Indoor Localization System Utilizing Zigbee

Wireless Networks and Inertial Sensor Integration

Outline

• Introduction

• Indoor positing System (IPS) Techniques

– Non-radio technologies

– Wireless technologies

• Research Objective

• Proposed System

• Experiment

• Results

• Conclusion

• Future Work

25/04/2016 2NavINST – Navigation & Instrumentation Research Group

Introduction

• What is Indoor positing System (IPS)?

– Indoor positioning system (IPS) is a system to locate objects or people inside a building using radio waves, magnetic fields, acoustic signals, or other sensory information collected by mobile devices.

• Why we use IPS?

• Uses of IPS

– Self localization

– People localization

– Assets localization


IntroductionApplications of IPS

Shopping MallsSchools Hospitals

Universities Train Stations

Prisons

Museums

Airports


IPS Techniques

• Non-radio technologies

– Pedestrian Dead reckoning (PDR)

• Wireless technologies

– Wi-Fi-based positioning system (WPS)

– Bluetooth

– Visible light

– Zigbee Wireless Networks


IPS Techniques

• Non-radio technologies

– Pedestrian Dead reckoning (PDR)

• What is PDR?– It is the process of calculating one's current position by using a

previously determined position

• Why we use PDR?– Available with most of the people

– Low cost solution

– Provide good accuracy in short paths


IPS Techniques

PDR

Distance

Count Steps

X-Accelerometer

X Y-Accelerometer

X Y Z-Accelerometer

Step Size

Azimuth

Gyroscope

Compass

Integration of Gyro and

Compass


IPS Techniques

• Wireless technologies– ZigBee

• What is ZigBee?

• Why using ZigBee?– Low power

– Low cost

– Small is size

– Can be used in research easily

• Received Signal Strength Indication(RSSI)

– Trilateration

– Fingerprinting

Node 1

Node 2

Node 3


Research Objective

• Design an Indoor Positioning system

– Low cost

– More Accurate

– Portable

– User Friendly

– Provide more positioning reliable solution.


ZigBee

PDR

Accelerometer

Gyroscope

Step Detection

Step Size

Step Direction

RSSI

Integration

PDR Position

Distance

CorrectedPosition

Proposed System


• Correction Algorithm

– Case 1

ZigBee

Node

PDR

6 m

Proposed System


ZigBee

Node

PDR

6 m

– Case 2

Proposed System


– Case 3

ZigBee

Node

PDR

6 m


ZigBee

Node

PDR

6 m

– Case 4

Proposed System


– Case 5

ZigBee

Node

PDR

6 m


ZigBee

Node

PDR

6 m

– Case 6

Experiment

• The experiments were conducted in the 5th floor, at the Electrical Engineering building, at Royal Military Collage of Canada, Kingston, Ontario, Canada.

• Zigbee network consisting of ten Zigbee senders were placed at known locations.

Lay out of the Building indication the path the pedestrian during the experiment and the position of

the Zigbee senders


Installing Zigbee Nodes

Experiment

• The proposed method was implemented inside the android application in the form of three modules:

– PDR (Pedestrian Dead reckoning) module• To obtain pedestrian navigation using inertial sensors.

– Communication module• To establish a connection between ZigBee nodes and android

tablet.

– The correction module • To correct the measurements of PDR solution using ZigBee

modules.


Results

• PDR with Correction algorithm has an rmserror less than two meters compared to more than five meters in case of PDR only.

25/04/2016 NavINST – Navigation & Instrumentation Research Group 16

Experiment

• The experiment was implemented using an Android tablet (Samsung), connected with ZigBee receiver.

• The tablet and the Zigbee receiver are being carried by a pedestrian mounted on the chest.

• The pedestrian was walking normally during the experiments to collect data at different locations.

The layout of the android application


Results

PDR Error: 4.27 m

PDR/ZigBee Error: 1.86 mTrue Path

PDRPDR / ZigBee


Results


Conclusion

• In this work, we proposed an Integrated Indoor positioning system employing:– Pedestrian Dead reckoning module (PDR)

– ZigBee wireless module.

• The proposed integration was made as the position determined by the PDR only method has an exponential error, which leads to in accuracy especially in long distances.

• The experimental results showed that the proposed integration algorithm PDR and Zigbee can accurately determine the position with error distance less than two meters compared to more than five meters in case of PDR only.


Future work

• Automatic Decision Making (Fuzzy logic, neural network)

• Testing the proposed method on several indoor environments having different applications.

• Sending Position of Zigbee modules using Bluetooth

• Integrating our algorithm with several wireless technologies as Wi-Fi, Bluetooth.


navigation and instrumentation research groupainegypt.org/event/papers/ahmed tarek -...

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