3d navigation and localization
DESCRIPTION
3dTRANSCRIPT
WELCOME
17-10-2013 1
SEMINAR ON
Atmospheric Pressure-Aware
Seamless 3-D Localization and
Navigation for Mobile Internet
DevicesPRASHOB N PAVANANROLL NO : 09S7 ECE
Dept. of ECE
SEMINAR GUIDEMs NIMITHA
17-10-2013 2
CONTENTS• INTRODUCTION
• TECHNIQUES USED FOR LOCALIZATION AND NAVIGATION
• CURRENTLY USED METHODS
• ADVANTAGE OVER OTHERS
• BLOCK DIAGRAM
• ALTITUDE DETERMINATION
• ADDITIONAL HARDWARE
• IMPROVED ACCURACY OF 2D LOCALIZATION
• 2D LOCALIZATION ERRORS
• ERROR REDUCTION USING 3D AUGMENTED MODEL
• HOW THE SEAMLESS 3D LOCALIZATION WORKS
• APPLICATIONS
• CONCLUSION
• REFERENCE
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Atmospheric Pressure-Aware Seamless 3-D Localization and Navigation for Mobile Internet Devices
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INTRODUCTION
• Advances in Wireless cellular networks
• Provide bandwidth for mobile to access the internet
• In addition
– More powerful processor
– Sensors
• Enables Smartphone for several services like
– User current location
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Atmospheric Pressure-Aware Seamless 3-D Localization and Navigation for Mobile Internet Devices
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-LBS (Location Based Service)
-Both indoor and outdoor navigation,
Utilizing GPS(Global Positioning System)
o Outdoor-strong GPS signals
o Indoor –weak GPS signals
-RSS (Received Signal Strength) based
localization
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Fig 1(a) : Satellite used for GPS
Atmospheric Pressure-Aware Seamless 3-D Localization and Navigation for Mobile Internet Devices
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Continues…..
TECHNIQUES USED FOR LOCALIZATION AND NAVIGATION
• Traditional triangulation localization
• Using RADAR (Radio Detection And Ranging)
• GPS
• WIFI Localization
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Figure 1.1 showing GPS navigation
Atmospheric Pressure-Aware Seamless 3-D Localization and Navigation for Mobile Internet Devices
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CURRENTLY USED LOCALIZATIONMETHODS
• Designed for two-dimensional (2-D) conditions
• No altitude information
• Less accuracy
• Not possible for localization and navigation in multi-storied
buildings and navigation around the mountain
• 3D localization based on RFID ( requires more computing
capability)
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Atmospheric Pressure-Aware Seamless 3-D Localization and Navigation for Mobile Internet Devices
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ADVANTAGES OVER OTHERS
• Provides accurate altitude information
• Improves the accuracy of indoor RSS based localization using
the altitude information
• Provides seamless 3-D localization and navigation Service
across indoor and outdoor environments
• Uses atmospheric pressure for the altitude determination
• Possible with all android smart phones which uses an
application software for downloading the maps
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Atmospheric Pressure-Aware Seamless 3-D Localization and Navigation for Mobile Internet Devices
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BLOCK DIAGRAM
Fig. 1 : Seamless 3-D localization and navigation system framework
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Atmospheric Pressure-Aware Seamless 3-D Localization and Navigation for Mobile Internet Devices
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• IN OUTDOOR ENVIRONMENTS• Such as mountains
• IN INDOOR ENVIRONMENTS• Buildings have different layouts on different floors
Figure 1.3 : showing indoor and outdoor navigation
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Fig 1.2 : Mountains
Atmospheric Pressure-Aware Seamless 3-D Localization and Navigation for Mobile Internet Devices
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Fig. 2 :Navigation in a multi-story building
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Atmospheric Pressure-Aware Seamless 3-D Localization and Navigation for Mobile Internet Devices
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p2
p1
ALTITUDE DETERMINATION
where,
H – Altitude
P - Measured atmospheric pressure
To - Temperature.
dT /dH - Temperature gradient with the altitude
Po - Standard atmospheric pressure
g – Acceleration of gravity
R - Gas constant.
])/(1).[//( /)./(
00
gRdHdTPPdHdTTH
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Atmospheric Pressure-Aware Seamless 3-D Localization and Navigation for Mobile Internet Devices
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By substituting values
Equation changes to
i e; dT /dH =−6.5 K/km
Po =101325 Pa
g = 9.82 m/s2
R=287.052 m2 /(s2∙K)
])101325/(1).[/5.6/( 19.0
0 PaPkmKTH
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Atmospheric Pressure-Aware Seamless 3-D Localization and Navigation for Mobile Internet Devices
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• Measured pressure -used to calculate the altitude
• Pressure is measured using pressure sensor
• Height error much less than 0.5 m which is
enough to specify the floor
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Atmospheric Pressure-Aware Seamless 3-D Localization and Navigation for Mobile Internet Devices
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Continues…..
ADDITIONAL HARDWARE
Fig. 3 : Atmospheric pressure sensor and communication module
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Atmospheric Pressure-Aware Seamless 3-D Localization and Navigation for Mobile Internet Devices
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• Some smart phones have an integrated atmospheric pressure sensor
Or
• Attached through a blue tooth transceiver
• It also uses
• Microcontroller
• Battery
• Power management unit
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Atmospheric Pressure-Aware Seamless 3-D Localization and Navigation for Mobile Internet Devices
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IMPROVED ACCURACY OF INDOOR 2-DLOCALIZATION METHOD
• Calculation of distance between sender and receiver is
based on RSS (received signal strength)
• Attenuation Happens during transmission
• RSS is related to distance
• As the distance between the anchor nodes increases the
signal strength decreases
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Atmospheric Pressure-Aware Seamless 3-D Localization and Navigation for Mobile Internet Devices
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• Distance can be calculated as
where ,
q - Measured RSS
d - Distance
Q -RSS at a distance of one meter (remains constant)
r - Path loss exponent
E - Random variable
EdrQq lg10
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Atmospheric Pressure-Aware Seamless 3-D Localization and Navigation for Mobile Internet Devices
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• E has little effect and can be omitted
Thus,
• It can be used to calculate d from q and r
• d is used in 2-D localization to calculate the location
)10/(10 rqQd
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Atmospheric Pressure-Aware Seamless 3-D Localization and Navigation for Mobile Internet Devices
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2-D LOCATION SYSTEM ERRORS
• A multi-story building may have many Wi Fi-APs
• It is deployed on different floors
• The AP’s on the different floors are described in a 3D
coordinate system
• It convert the 3-D coordinates to 2-D coordinates by
ignoring the Altitudes
• 2-D localization - cause a localization error
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Atmospheric Pressure-Aware Seamless 3-D Localization and Navigation for Mobile Internet Devices
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Fig. 4 : Position relationships between the user and the APs
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Atmospheric Pressure-Aware Seamless 3-D Localization and Navigation for Mobile Internet Devices
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Attenuation by the floor
Device receives the attenuated signal
The L is larger than the true distance
• RSS will not be accurate
• Received wireless signal is attenuated by the floor slab
• It is mainly concrete and thicker than the walls
• L is larger than the true distance between the user and AP3
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Atmospheric Pressure-Aware Seamless 3-D Localization and Navigation for Mobile Internet Devices
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FIG:WAP54G
Continues….
Atmospheric Pressure-Aware Seamless 3-D Localization and Navigation for Mobile Internet Devices
Fig 4.3 : Indoor navigation using software Fig 4.3(a) : Indoor navigation
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• A better approach - Real 3-D Coordinate System
– It is used to describe the locations of the APs and the user
– Complex
• An alternative approach
– Augmented 3-D model
• Movement on the stairs is neglected
– Floor number is enough to describe the user altitude
• L′ is the true distance value ( Fig 4)Dept. of ECE
Atmospheric Pressure-Aware Seamless 3-D Localization and Navigation for Mobile Internet Devices
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REDUCING ERRORS USING AUGMENTED 3D MODEL
• C is added to account for the signal attenuation by the floor slab and for the AP on the 2nd floor and user on the 1st;
• Compensation C depends on
– Floor thickness
– Material
• Approximate d to L
• If AP is on the floor 3 and the user on the floor 1 then the C doubles
)10/)((10 rcqQd
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Atmospheric Pressure-Aware Seamless 3-D Localization and Navigation for Mobile Internet Devices
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• After considering the Signal Strength Attenuation
• L can be calculated
• L′ can be calculated using the Pythagorean theorem
where H - Distance between neighbouring floorsL′ - Projection value L - Distance
• Improves the localization method accuracy
22' HLL
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Atmospheric Pressure-Aware Seamless 3-D Localization and Navigation for Mobile Internet Devices
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STEPS OF LOCALIZATION METHOD
le Map APIs
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Atmospheric Pressure-Aware Seamless 3-D Localization and Navigation for Mobile Internet Devices
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• Step 1: check the APs that can be identified to find which APs are on the same floor as the user and which APs are on the different floors
• Step2:calculate the distance from each AP to the user.
The distances between the AP s on the different floor and user are found
• Utilize the traditional triangulation localization method to calculate the location
BRIEF IDEA OF TRIANGULATION
Outdoor navigation software based on the Google Map APIs
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Atmospheric Pressure-Aware Seamless 3-D Localization and Navigation for Mobile Internet Devices
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AP 1 AP 2
USER OR OBJECT
;
HOW SEAMLESS 3D NAVIGATION SYSTEM WORKS
Outdoor navigation software based on the Google Map APIs
Dept. of ECE
Atmospheric Pressure-Aware Seamless 3-D Localization and Navigation for Mobile Internet Devices
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Consider an office building with 4 floors:
1. In outdoor environments ,uses GPS transceiver and the atmospheric pressure sensor to calculate 3D location
2. Indoor 3D localization uses 20 wi fi AP’ s to serve as anchor nodes
3. The smart phone automatically calculates the indoor location based on RSS from Wi fi AP’ s
4. The Application Programming Interfaces of Google updates the map of the current location
5. When user enters the building , the software downloads the location information for each WiFi AP in the building ,including the horizontal location and floor number ,map of each floor , altitude, the distance between floors and compensation C for each floor
CONTINUED……
Outdoor navigation software based on the Google Map APIs
Dept. of ECE
Atmospheric Pressure-Aware Seamless 3-D Localization and Navigation for Mobile Internet Devices
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PRESSURE DETERMINATION
• In certain smart phones have the integrated pressure sensor ,
temperature sensor and also humidity sensor
• The software running in the smart phone uses the pressure
value to get the altitude information in real time
• The atmospheric pressure decreases as the altitude increases
and vice versa
• The altitude or atmospheric pressure can be used to
determine the floor number
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Atmospheric Pressure-Aware Seamless 3-D Localization and Navigation for Mobile Internet Devices
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Fig: 7 Altitude determined by the pressure sensor
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Atmospheric Pressure-Aware Seamless 3-D Localization and Navigation for Mobile Internet Devices
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Fig 7.1: Altitude vs Pressure Fig 7.2: Atmospheric Pressure
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Atmospheric Pressure-Aware Seamless 3-D Localization and Navigation for Mobile Internet Devices
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APPLICATIONS
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Atmospheric Pressure-Aware Seamless 3-D Localization and Navigation for Mobile Internet Devices
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•Used for navigation inside a large shopping mall•Helps in easy navigation in hilly areas•Can keep the track of the user•Helps for the real time measurement and monitoring of pressure•Helps to identify easily the location based services
Figure
CONCLUSIONS
• Seamless 3-D localization and Navigation System uses
Atmospheric Pressure Sensor
• Provide better guidance indoors or outdoors
– Including multi-story buildings or high mountains(on a map
on the user’s device)
• Accuracy
– more accurate than the traditional 2-D localization
method
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Atmospheric Pressure-Aware Seamless 3-D Localization and Navigation for Mobile Internet Devices
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REFERENCES
• Bahl P, Padmanabhan : An in-building RF-based user locationand tracking system
• Chintalapudi K, Padmanabha I A, Padmanabhan V N. Indoorlocalization without the plain
• Youssef M, Agrawala A, The Horus WLAN locationdetermination system
• www.wikipedia.com
• ieeexplore.ieee.org
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Atmospheric Pressure-Aware Seamless 3-D Localization and Navigation for Mobile Internet Devices
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Thank you……………
Dept. of ECE
Atmospheric Pressure-Aware Seamless 3-D Localization and Navigation for Mobile Internet Devices
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