Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.
-
Upload
eustacia-sanders -
Category
Documents
-
view
221 -
download
1
Transcript of Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.
![Page 1: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/1.jpg)
Presenter Ho-lin Chang
![Page 2: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/2.jpg)
• Introduction• Design• Implementation• Evaluation• Conclusion and future Work
2
![Page 3: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/3.jpg)
• Indoor location-based service
3
Healthcare Security Warehouse
![Page 4: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/4.jpg)
• Existed indoor localization technique– UWB– Ultrasound– WiFi
4
UWB
WiFi
Ultrasound
![Page 5: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/5.jpg)
• UWB (Ubisense)– Accuracy: 10 ~ 20 cm– Time difference of arrival– Expensive specialized
hardware (10,000 USD)
5
![Page 6: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/6.jpg)
• Ultrasonic (Cricket)– Accuracy: 10 ~ 20 cm– Short range– Non-line of sight problem
6
![Page 7: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/7.jpg)
• WiFi (Ekahau, RADAR)– RSS fingerprinting– Accuracy: 3 ~ 5m– Low cost– Offline training
7
![Page 8: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/8.jpg)
Technologies Accuracy Properties
UWB 15 cm • Specialized hardware
Ultrasound 15 cm• Short range• Non-line of sight problem
WiFi 300~500 cm • Offline training
? cm range• Low cost• Radio• No offline training
8
![Page 9: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/9.jpg)
• Develop a novel localization system – Spinning beacon (RF)– Indoor environment– Sub-meter accuracy• 50% < 39 cm• 90% < 70 cm
– Low cost• Low cost motes (100 USD)• Rotation motor
9
![Page 10: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/10.jpg)
10
![Page 11: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/11.jpg)
S
S
S
XX
RR
XX
11
The location of XThe location of X
![Page 12: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/12.jpg)
X
S v
f vproject
12
![Page 13: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/13.jpg)
X
Δf = 0 HzΔf = 0 HzΔf = 30 HzΔf = -30 Hz
timeΔf (t) = ?30Hz
0Hz
0Hz
-30Hz
vS
13
![Page 14: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/14.jpg)
v(t)
S
X
α
x
y
dr
S : (r cosθ, r sinθ)v(t) = (-ωr sinθ, ωr
cosθ)
θ(t) = ωt+φ
X : (d cosα, d sinα)
14
![Page 15: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/15.jpg)
S
v(t) X
αx
y
RRβ
15
![Page 16: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/16.jpg)
16
![Page 17: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/17.jpg)
S
S
S
XX
RR
XX
17
The location of X
![Page 18: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/18.jpg)
18
500 Hz
A 900 MHz
900 MHz + 500 HzBThe location of X
![Page 19: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/19.jpg)
19
The location of X
![Page 20: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/20.jpg)
• Hardware–Crossbow MICA2
–Rotational motor
• Software– TinyOS 1.x–C/C++
20
![Page 21: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/21.jpg)
• Testbed– 國發所地下室停車場– Three spinning beacons– 30 sample points (2m grid)
• 10 position samples (300 samples)• 3 angles (900 angles)
• Evaluation metrics– Positional error– Angular error
• Parameter Tuning
21
![Page 22: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/22.jpg)
50% < 3 degrees
90% < 10 degrees
50% < 3 degrees
90% < 10 degrees
22
![Page 23: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/23.jpg)
50% < 3 degrees
90% < 10 degrees
50% < 39 cm
90% < 70 cm
23
![Page 24: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/24.jpg)
• Data collection time• Rotational velocity
• Interference frequency
• Angulation filtering threshold– Minimum distance as a quality indicator
24
![Page 25: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/25.jpg)
25
![Page 26: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/26.jpg)
26
![Page 27: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/27.jpg)
Lower frequency estimation precision
27
![Page 28: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/28.jpg)
28
![Page 29: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/29.jpg)
• Track fast moving targets• Rotational device
29
![Page 30: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/30.jpg)
• Develop a novel localization system– Spinning beacon– Indoor environment– Low cost– Sub-meter accuracy• 39cm / 70cm
30
![Page 31: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/31.jpg)
• Reduce the localization latency–Reduce the routing time• Distributed version• Data compression
• Track the fast moving targets
31
![Page 32: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/32.jpg)
![Page 33: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/33.jpg)
![Page 34: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/34.jpg)
34
![Page 35: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/35.jpg)
r/d
0.10.30.5
0
35
![Page 36: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/36.jpg)
36
![Page 37: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/37.jpg)
37
k
![Page 38: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/38.jpg)
A
B
Xv
fA
fB
|fA-fB||fA + ΔfX - fB|
![Page 39: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/39.jpg)
R
S A
S
S
39
![Page 40: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/40.jpg)
40
Time
Signal strength
![Page 41: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/41.jpg)
• Each infrastructure perceives different Doppler shift.
• Localize the target by different Doppler shifts
Xv
41
I
I
I
II
I
![Page 42: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/42.jpg)
Maximum Doppler shiftf : 900 MHz ω : 2.5 round/secr : 30 cm ~ 50 cm
42
![Page 43: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/43.jpg)
0.3 ~ 1.5 sec 8 ~ 10 sec1st Doppler angulation
2nd Doppler angulation3rd Doppler angulation
Localization
43
![Page 44: Presenter Ho-lin Chang. Introduction Design Implementation Evaluation Conclusion and future Work 2.](https://reader036.fdocuments.us/reader036/viewer/2022062321/56649e8a5503460f94b8fe70/html5/thumbnails/44.jpg)
v(t)
S
X
α
x
y
dr
S : (r cosθ, r sinθ, 0)v(t) = (-ωr sinθ, ωr cosθ, 0)
θ(t) = ωt+φ
X : (d cosα, d sinα, h)
44