Codename: SugarTrail
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Transcript of Codename: SugarTrail
![Page 1: Codename: SugarTrail](https://reader035.fdocuments.us/reader035/viewer/2022062221/568132e3550346895d999f4b/html5/thumbnails/1.jpg)
Codename: SugarTrailInfrastructure-less indoor
location guidance
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Why?
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Why?• Emergency Response – Fire
– Unknown environment– No infrastructure– Need for navigation
• Locating Things – Walmart/ Old people’s home– Low cost infrastructure– Quick and easy to deploy and maintain– Need for navigation
Navigation
Leading people to the point of interest is sufficient, as opposed to knowing it’s absolute location on a map.
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Why?• Existing location systems
Camera (Slam)Resource intensivePrivacy
GPS-like Range Based Ultrasound/UWB (Slam)Need infrastructure
Signature Based Wi-FiCoarse-grainedCalibration
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What? SugarTrail!
• Self-configuring indoor navigation system
• No pre-existing infrastructure needed
• No manual calibration required
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How?
• Signatures• Clusters• Local Compass Signatures• Virtual Maps
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Guidance
Start: front door, 1st floor
Landmark: stairs Destination: Pei’s office
Landmark: sofa
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Signatures
• Round-trip time-of-flight (RToF) readings from arbitrarily placed anchor nodes.
• {r1, r2, r3, r4, …, rN}• RToF readings are stable over
time for a particular room geometry but show high error
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Signatures: Single Ranging Reading
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Signatures: Integrated Ranging Reading
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Clusters
• Signatures can be clustered by a distance threshold to create virtual landmarks.
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Clustering
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Algorithm:Bayesian Filter
Given current reading and direction , the belief of in Cluster
Possibility of one step away from Cluster in direction ending up in Cluster
kkx
1kx
kkz
kx
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Clusters
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Local Compass Signatures
• The compass reading differs in different environment
• What we need is relative direction ( like, ‘turn left’ )
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Experiment in Hallway• Using relation between real
distance and ranging reading to get complete signatures
• Using generated signatures to get distribution table for possibility of signature belongs to certain cluster
• Clustering• Navigation• Kmeans Re-cluster
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Real Distance & Signature
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Clusters
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Navigation
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Kmeans Re-Clusters
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Metric
• Average Distance Error: to measure the accuracy of the guiding system
• Average Step: to measure how well the guidance is on choosing path
roundtesting
errdistADE
_
_
roundtestingdistreallengthpath
AS___
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Parameters
• Number of Anchors– At least 4– Tested from 4 to 12
• Distribution Table (the clusters size)– Tested from 0.5 to 3
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Number of Anchors
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Number of Anchors
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Distribution
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Distribution
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Experiment in Lab• Collecting Ranging Signatures and
Compass Readings every 10 centimeters– 20 ranging signatures for one point– 1 Compass reading
• Randomly pick readings as training trail
• Filtering readings in signature by their stand deviation
• Using subset of the signatures for clustering
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Experiment in Lab
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Experiment in Lab
TestNumber
CenterDistMissedAreatErrorAverageDis
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Experiment in Lab
AreaDist
StepTakenpAverageSte
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Experiment in Supermarket
• Ranging Test– How long can it rang?– Where to put anchors?
• Clustering Test– Can area across racks be distinguished?– Can area alone the racks be
distinguished?
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New Wing Yuan Market: Environment
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New Wing Yuan Market: Environment
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Equipments:Laptop
•Connect Base to the laptop •Use Matlab serial port get data directly
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Equipments:Anchor
Anchor
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Equipments:Node and Base
Base and Node align vertically
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Ranging Test:Along Aisle
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Ranging Test:Along Aisle
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Ranging Test: Along Aisle
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Ranging Test: Along Aisle
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Ranging Test:Along Aisle Across Rack
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Ranging Test:Along Aisle Across Rack
First Rack
Second Rack
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Ranging Test:Across Racks
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Ranging Test: Across Racks
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Organized Data Collecting:Sample points
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Filter the Data for Our Use: 2x2 feet grid
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Clustering:Using sub-set of signature
• Using sub-set of signature in Clustering
• Comparing 2 readings’ overlapped signature readings number– If > valid_sig_threshold : use
corresponding distribution table to determine if they are in same cluster
– Else : considering them in 2 different clusters
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Clustering on One Aisle
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Clustering over whole supermarket