Toward Better Indoor Localization: Cooperative Localization and Estimation Fusion
Localization
description
Transcript of Localization
![Page 1: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/1.jpg)
Localization
![Page 2: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/2.jpg)
IntroductionWe are here !
![Page 3: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/3.jpg)
Applications Wildlife Tracking Weather Monitoring Location-based Authentication Routing in ad-hoc networks Surveillances
![Page 4: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/4.jpg)
Properties of Localization Physical position versus symbolic location Absolute versus relative coordinates Localized versus centralized computation Percision Cost Scale Limitations
![Page 5: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/5.jpg)
Possible Approaches Triangulation, Trilateration
Location determined using geometry. Scene Analysis
Observed features used to infer location.
Proximity Detection of change near known
location.
![Page 6: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/6.jpg)
Scene Analysis Features of an observed scene
from a particular vantage point used to infer location. Not applicable in WSNs.
![Page 7: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/7.jpg)
Proximity Can be used for positioning when
several overlapping anchors are avialalbe. Centronoid localization
It can be used to decide whether a node is in the proximity of an anchor. E.g. Active Badge
![Page 8: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/8.jpg)
Triangulation Vs. Lateration The proximity helps to determine
geometric relationship between nodes.
The distance between them or angle of a singular triangle can be easily estimated.
![Page 9: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/9.jpg)
Lateration vs. Angulation When distances between entities
are used, the approach is called lateration.
when angles between nodes are used, one talks about angulation.
![Page 10: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/10.jpg)
Trilateration Using distances and anchor
positions, the node’s position has to be at the intersection of three circles around the anchors.
d
d
d
![Page 11: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/11.jpg)
Distance measure Approaches RSSI ToA TDoA Determining Angles
![Page 12: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/12.jpg)
RSSI Known :
Transmission power Ptx
The path loss model Path lost coefficient α
Receiver can determine the distance d to the transmitter :
rcvd
txtxrcvd P
cPd
dPcP
![Page 13: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/13.jpg)
RSSI Challenges:
Signal propagation issues, especially indoors:
Shadowing, Scattering, Multipath propagation.
It’s usually a random process.
![Page 14: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/14.jpg)
Time of Arrival Conditions :
The speed of propagation is known. Sound speed depends on environmental
factors. Receiver and sender are
synchronized.(drawback) The distance can be estimated,
using the transmission time.
![Page 15: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/15.jpg)
TDoA TDoA use two transmissions
mediums of different propagation speeds to generate an implicit synchronization. First signal is used to measure ToA of
the second one.
![Page 16: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/16.jpg)
Triangulation Angulation: using angles to
determine distance with directional, or phased-array antennas.
2D position requires two angle + one distance measurement.
3D position requires two angle + one length + one azimuth measurement.
d is knownd
![Page 17: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/17.jpg)
Mathematics of Lateration there are three anchors with
known positions. For the unknown position of (xu,yu)
and those anchors we have :
),( ii yx 3,2,1i
3,2,1,222 iryyxx iuiui
![Page 18: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/18.jpg)
Mathematics of Lateration After subtracting the third equ. and
reordering them we have :
That can be expressed using a linear matrix.
)()()()(2)(2 23
21
23
21
23
211313 yyxxrryyyxxx uu
)()()()(2)(2 23
22
23
22
23
222323 yyxxrryyyxxx uu
![Page 19: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/19.jpg)
Mathematics of Lateration Which the Matrix on the left side
and right side are known constant.
)()()()()()(
2 23
22
23
22
23
22
23
21
23
21
23
21
2323
1313
yyxxrryyxxrr
yx
yyxxyyxx
u
u
![Page 20: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/20.jpg)
Solving the Distance Errors. Distance measurements are not
perfect but only estimates with an unknown error ε are known.
How to Solve this ? More than three anchors are needed. Use Multilateration Problem
r~iii rr ~
![Page 21: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/21.jpg)
Multilateration When order the so called Euclidian formula , we
have :
A solution can be computed that minimizes the mean square error. which is :
b
nnnnnn
nnn
x
u
u
A
nnnn
nn
yyxxrr
yyxxrr
yx
yyxx
yyxx
)()()(...
)()()(..........2
221
221
221
221
221
221
11
11
bAAxAbAAxA TTTT 022
![Page 22: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/22.jpg)
Single Hop Localization This is about systems where a
node with unknown position can directly communicate with anchors.
![Page 23: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/23.jpg)
Active Badge
IR sensor (receiver)
Central Server
Badge
Every badge periodically, sends unique identifier, via infrared, to the receivers. receivers, receive this identifiers and store it on a central server.
![Page 24: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/24.jpg)
Active office The devices which its position is to be
determinate act as ultrasound senders Receivers are placed at well-known position,
mounted in array at the ceiling of a room. controller sends a radio message which
contains the address of this specific device. The device sends out an ultrasound pulse,
which is received by the array of receivers.
![Page 25: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/25.jpg)
Active office This array computes the difference
between the arrival of the ultrasound pulse and the time when the radio signal was sent. (TDoA)
![Page 26: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/26.jpg)
Cricket In both recent cases, infrastructure
determines device position. Here the devices themselves can
compute their own positions or locations.
![Page 27: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/27.jpg)
Cricket Anchors spread in a building send
ultrasound pulses that combined with radio pulses, which allow the receiver to employ the TDoA to extract symbolic location information of its position.
![Page 28: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/28.jpg)
Overlapping Connectivity Try to use only the observation of
connectivity to a set of anchors to determine a node’s position.
)...
,...
(),( 11
nyy
nxx
yx nnuu
![Page 29: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/29.jpg)
APIT Decide whether a node is within or
outside of a triangle formed by any three anchors.
![Page 30: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/30.jpg)
APIT Nodes cannot move always ! how to decide ?
![Page 31: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/31.jpg)
APIT Approximate P.I.T Test: If no
neighbor of M is further from/closer to all three anchors A, B and C simultaneously, M assumes that it is inside triangle ΔABC. Otherwise, M assumes it resides outside this triangle.
![Page 32: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/32.jpg)
Two possible Errors
![Page 33: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/33.jpg)
Two possible Errors the percentage of APIT tests
exhibiting such an error is relatively small (14% in the worst case).
![Page 34: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/34.jpg)
APIT Aggregation APIT aggregates the results
(inside/outside decisions among which some may be incorrect) through a grid SCAN algorithm.
![Page 35: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/35.jpg)
Using Angle of Arrival use anchors nodes that use narrow, rotating beams
where the rotation speed is constant and known to all nodes.
1
1
1
))sin(),cos((),(,)sin()sin(
)(,)()cos()sin()cos(arctan
YMYYXMLS
SinSinLY
SinSS
pp
![Page 36: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/36.jpg)
Positioning in MultiHop Recent approaches was based on
connectivity of nodes to anchors. This assumption is not always true
in a WSN – not every node is in direct contact with at least three anchors.
![Page 37: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/37.jpg)
SDP Geometric constraints between
nodes are represented as linear matrix inequalities (LMIs).
The LMIs can be combined to form a single semidefinite program.
only constraints that form convex regions are amenable to representation as an LMI.
![Page 38: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/38.jpg)
SDP Angle of arrival data can be
represented as a triangle and hop count data can be represented as a circle, but precise range data cannot be conveniently represented.
![Page 39: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/39.jpg)
SDP Given a set of convex constraints
on a node’s position, SDP simply finds the intersection of the constraints.
![Page 40: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/40.jpg)
MDS MDS-MAP is a centralized
algorithm. Suppose there are n points,
suspended in a volume. We don’t know the positions of the points, but we do know the distance between each pair of points. Find the relative positions of the points based on the pairwise distances.
![Page 41: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/41.jpg)
MDS Estimates shortest path between
any pair of nodes , then applies a MDS , and at the end Transform the estimates into global coordinates using some number of fixed anchor nodes using a CSR routine.
![Page 42: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/42.jpg)
MDS It is fairly stable with respect to
anchor placement, achieving good results even if only few anchors are available or placed.
![Page 43: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/43.jpg)
Multihop Range Estimation Niculescu described three different
approach.
DV-Hop DV-Distance Euclidean Distance
![Page 44: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/44.jpg)
DV-Hop Count Shortest hop numbers
between all two nodes. Each anchors estimate hop length
and propagates to the network. Node calculates its position based
on average hop length and shortest path to each anchor.
![Page 45: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/45.jpg)
DV Hop L1 calculates average hope
length :
So do L2 and L3 :
5.172640100
42.16527540
90.155610075
i
jijii h
yyxxc
22 )()(
![Page 46: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/46.jpg)
DV-Hop Node A uses trilateration to
estimate it’s position by multiplying the average hope length of every received anchor to shortest path length it assumed.
![Page 47: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/47.jpg)
DV-Distance Distance between neighboring
nodes is measured using radio signal strength and is propagated in meters rather than in hops. Range estimation is more precise.
The algorithm uses the same method to estimate but shortest distance length are assumed.
![Page 48: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/48.jpg)
Euclidean Distance Assuming that the distances AB,
AC, BC, XB, XC are all known, it is possible to compute the unknown distance XA.
![Page 49: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/49.jpg)
Iterative Multilateration When a node is not located within
a range of three anchors, multilateration can not be implemented.
use normal nodes, once they have estimated their positions, just like anchor nodes in a multilateration algorithm.
![Page 50: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/50.jpg)
Iterative Multilateration
![Page 51: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/51.jpg)
Iterative Multilateration When more information becomes
available – more neighbors have estimated their own position – it is possible to use it to improve the position estimate and propagate an updated estimate to a node’s neighbors.
![Page 52: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/52.jpg)
Collaborative Multilateration There can be nodes in the network that
can not estimate their position.
When this occurs a node can use location information over multiple Hubs to attempt to estimate its position.
![Page 53: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/53.jpg)
Collaborative Multilateration Savvides : participating nodes can
be defined as nodes that have at least three anchors or other participating nodes as neighbours. Nodes 2 and 4 are participating nodes
and its position can be solved.
![Page 54: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/54.jpg)
Collaborative Multilateration Savarese : a sound node has
independent references to at least 3(4) anchors. That is, the multi-hop routes to the anchors have no link (edge) in common. Node 2,4 are sounds.
![Page 55: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/55.jpg)
Probabilistic Positioning As mentioned before an RSSI value,
gives rise to a probability density function, relating each distance to a certain probability with which it corresponds to the RSSI value.
![Page 56: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/56.jpg)
Probabilistic Positioning Once information from a second
anchor becomes available, the two density functions can be convoluted and an improved description of the node’s position probabilities results.
![Page 57: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/57.jpg)
Anchor Placement Properly placed anchor act an important role
in estimating the position. Accuracy improves if more anchors are
available. Several Articles expressing a preference for
anchors to be placed in perimeter of a given area.
Some adaptive placement algorithms are available for low density networks.
![Page 58: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/58.jpg)
Global Positioning System
![Page 59: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/59.jpg)
GPS Consists of 24 MEO satellites that
transmit precise microwave signals.
![Page 60: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/60.jpg)
GPS Four satellites are placed in each of six
orbital planes with 55° tilt to the equator. Four to ten GPS satellites will be visible
anywhere in the world
![Page 61: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/61.jpg)
GPS The satellite altitude is about
20,200km above the Earth’s surface.
![Page 62: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/62.jpg)
GPS The satellite constellation is
managed by the United States Air Force 50th Space Wing in Colorado.
The cost of maintaining the system is approximately US$750 million per year.
![Page 63: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/63.jpg)
GPS Navigation Signals GPS satellites broadcast three
different types of data in the primary navigation signal. Almanac Ephemeris Clock information
![Page 64: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/64.jpg)
Almanac and Ephemeris Ephemeris :
Contains orbital information that allows the receiver to calculate the position of the satellite, is transmitted every 30 sec.
Almanac: Information and status concerning all the
satellites; their locations and PRN numbers. framed in Navigation Message of 37500 bit
![Page 65: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/65.jpg)
Clock informations The coordinates (the location) of
the satellites as a function of time. The transmitted signals are
controlled by highly accurate atomic clocks.
![Page 66: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/66.jpg)
Clock Information Coarse / Acquisition code
Is freely available Precise code, or P-code
Restricted to public users by encrypting it.
![Page 67: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/67.jpg)
CA code The C/A code is a 1,023 bit long
PRN broadcast at 1.023 MHz, repeating every millisecond.
Each satellite sends a distinct C/A code, which allows it to be uniquely identified.
![Page 68: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/68.jpg)
P-code The P-code is a stream of about
2.35 × 1014 chips!. It is also 10 times faster than the
C/A-code (10.23 Mbps). Segmented between satellites. P-code is encrypted to Y-Code.
![Page 69: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/69.jpg)
Positioning Requirements Current time. The position of the satellite Measured delay of the received
signal. The position accuracy is primarily
dependent on the satellite position and signal delay.
![Page 70: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/70.jpg)
Measuring Delay The receiver compares the bit
sequence received from the satellite with an internally generated version.
![Page 71: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/71.jpg)
Measuring Delay Modern electronics can measure signal
offset to within about 1% of a bit time, or approximately 10 nanoseconds for the C/A code or about 3 meters.
Using the higher-speed P(Y) signal. Assuming the same 1% bit time accuracy, the high frequency P(Y) signal results in an accuracy of about 30 centimeters.
![Page 72: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/72.jpg)
Calculating Position Knowing Satellite position and
calculating distance using delay One can use Lateration on at least
3 satellites to find out its position.
![Page 73: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/73.jpg)
Calculating Positiong Due to receiver clock error (bias)
we need forth satellite to solve this problem using MMS.
iuuiuiui rbzzyyxx 222
![Page 74: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/74.jpg)
User Segment A typical GPS device contains a 12-
channel receiver and an antenna to capture satellite signals.
Most systems take around one to two minutes to acquire a 3D fix during a cold start, while some can take a few minutes.
![Page 75: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/75.jpg)
User Segment BMW continues to offer onboard
navigation with voice recognition and voice guidance on most of its new vehicles, with prices starting at $1,800.
![Page 76: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/76.jpg)
What Feature shoud I look for ? Display Maps Form factor Navigation feature Accessories
![Page 77: Localization](https://reader030.fdocuments.us/reader030/viewer/2022020309/56815043550346895dbe42bd/html5/thumbnails/77.jpg)
Acknowledge Thanks to audiences