eth zurich engineering geodesy - prof. dr. h. ingensand overview of current indoor positioning...
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ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
Overview of Current Indoor Positioning Overview of Current Indoor Positioning SystemsSystems
Dr. Rainer Mautz
ETH ZürichInstitute of Geodesy and Photogrammetry
3rd BALTIC-SWISS GEODETIC SCIENCE WEEK, Sept. 10-12, 2008, Tallinn
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
Positioning RequirementsPositioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook
ContentsContents
1. Positioning Requirements 1. Positioning Requirements
2. Overview of Systems2. Overview of Systems
3. GNSS3. GNSS
4. Alternative Positioning Systems4. Alternative Positioning Systems
5. Conclusions & Outlook5. Conclusions & Outlook
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
User Requirements:
availability: 100% of the time
timeliness: realtime
reliability: no failures
hybrid systems: to be avoided
local installations: none
accuracy: mm - cm
coverage: global
all environments:
indoors:
household, office & factory
outdoors:
urban & rural
dynamic
Positioning RequirementsPositioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
Classification of Positioning Systems:
Signal wavelength (Radio Frequencies, Light Waves, Ultrasound, RFID, Terahertz)
Principle (trilateration, triangulation, signal strength)
Environment (indoor, outdoor, urban, rural, remote)
Active / passive sensors
Accuracy (μm – km)
Application (industry, surveying, navigation)
Positioning RequirementsPositioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
Positioning RequirementsPositioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook
1 m
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1 k
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0 km
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10 μm 100 μm 1 mm 1 cm 1 dm 1 m 10 m 100 m Accuracygraphic: Rainer Mautz
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
Positioning RequirementsPositioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook
1 m
10
m
100
m
1 k
m
1
0 km
Indo
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O
utdo
or
Ran
ge
10 μm 100 μm 1 mm 1 cm 1 dm 1 m 10 m 100 m Accuracy
graphic: Rainer Mautz
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
Positioning RequirementsPositioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook
1 m
10
m
100
m
1 k
m
1
0 km
Indo
or
O
utdo
or
Ran
ge
10 μm 100 μm 1 mm 1 cm 1 dm 1 m 10 m 100 mAccuracy
graphic: Rainer Mautz
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
Most Geodetic Applications
Positioning RequirementsPositioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook
1 m
10
m
100
m
1 k
m
1
0 km
Indo
or
O
utdo
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Ran
ge
10 μm 100 μm 1 mm 1 cm 1 dm 1 m 10 m 100 m Accuracy
graphic: Rainer Mautz
Most Geodetic Applications
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
GNSS – Performance:
System Principle
CoverageReal-time
Accuracy RangeSignal
FrequencyData Rate
Market CostOutdoor
Indoor
Geodetic GNSS
TOA, lateration, differential technique
() mm global RF 20 Hz yesmoderate
to high
in addition:
strong attenuation fading: reflections, diffraction, scattering no general model
no direct line-of-sight:
obstacles
multipath
limitations:
Positioning RequirementsPositioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
GPS(United States)
GLONASS(Russia)
Galileo(EU)
Beidou, i.e. Compass(China)
Current number 31 MEO 16 MEO 1 MEO 1 MEO, 4 GEO
Number of satellites in space
2013: 40 satellites (open sky)
Implications on indoor environments ? marginalOther improvements: integrity, anti-jam power, security, clocks!
Future number 30 MEO 24 MEO 30 MEO 27 MEO, 5 GEO
Full operational capability
1995 2011 2013 ca. 2010
number of satellites
gain
Positioning RequirementsPositioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook
Today: 10 satellites (open sky)
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
Material [dB] Factor [-]
Glass 1 - 4 0.8 – 0.4
Wood 2 - 9 0.6 – 0.1
Roofing Tiles / Bricks 5 - 31 0.3 – 0.001
Concrete 12 - 43 0.06 – 0.00005
Ferro-Concrete 29 - 43 0.001 – 0.00005
Attenuation of various building materials (L1 = 1500 MHz)
Stone (1997)
Signal Strength in Decibel Watt of GNSS Satellites
Environment [dBW]
Satellite +14 signal strength delivered from satellite
Outdoors -155 unaided fixes OK for standard receivers
Indoors -176 decode limit for high sensitive receivers
Underground -191 decode limit for aided, ultra-high sensitive receivers
Indoors:
100 times weakerunderground:
10000 times weaker
Positioning RequirementsPositioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
Assisted GNSS (AGNSS, AGPS)
ephemeris, almanac via mobile phone
(+) hot start, quicker position fix(-) long acquisition times indoors(-) high power needs for high sensitivity(-) accuracy degrades to m-level indoors
How to overcome attenuation? Increase receiver sensibility Increase satellite signal power Use ultra wideband GNSS signals
Positioning RequirementsPositioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook
graphic from: www.semsons.com
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
Locata: Terrestrial pseudolite transceivers
Alternative Positioning Systems
Positioning RequirementsPositioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook
Picture from Barnes et al. (2003)6thIinternational Symposium on Satellite Navigation Technology , Melbourne, Australia
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
System PrincipleOutdoo
r Indoor
Real-time
Accuracy RangeSignal
FrequencyData Rate
Market Cost
LocataTOA,
lateration
2 mm static 1 cm
RTK,2 - 3 km RF 1 Hz
in progress
high
Locata – Key Parameters:
(+) RTK: 1 – 2 cm deviations at 2.4 m/s(+) signal magnitude stronger than GNSS(+) indoors dm Problem:multipath (low elevation)
Positioning RequirementsPositioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook
Picture from J. Barnes, C. Rizos, M. Kanli, A. Pahwa „A Positioning Technology for Classically Difficult GNSS Environments from Locata“, IEEE Conference, San Diego California, 26 April 2006
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
iGPS
iGPS transmitter and sensor during a test in a tunnel
Positioning RequirementsPositioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
iGPS – “laser resection”
PrincipleOutdoo
r Indoo
rReal-time
Accuracy RangeSignal
FrequencyData Rate
Market Cost
TOA angular measurements
0.1 – 0.2 mm
2 - 50 m RF 40 Hz in progress high
Key design:
two or more fixed transmitters rotating fan-shaped laser beams infrared signal various sensors detect arrival times position determination with spatial forward intersection
graphic from Metris
Positioning RequirementsPositioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
Localisation using direction of arrival
PrincipleOutdoo
r Indoo
rReal-time
Accuracy RangeSignal
FrequencyData Rate
Market Cost
TOA, Triangulation
2° angle 100 m RF - in progress low
Key design:
mobile units are transmitters min. 3 receiving units with 4 patch antennas eachaccuracy currently 2 angular degrees position determination with trilateration
graphic from Fraunhofer Institute
Positioning RequirementsPositioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook
α
Δt
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
Ultrasound Systems – Crickets, Active Bat, Dolphin
System PrincipleOutdoo
r Indoor
Real-time
Accuracy RangeSignal
FrequencyData Rate
Market Cost
CricketTOA,
lateration 1 – 2 cm 10 m ultrasound 1 Hz
development
low
Active BatTOA,
lateration 1 – 5 cm 1000 m2 ultrasound 75 Hz no moderate
DOLPHINTOA,
lateration 2 cm
room scale
ultrasound 20 Hz no moderate
Picture: Cambridge University
Positioning RequirementsPositioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
Problems:
dependency on temperature maximal range deployment of reference beacons multipath reliability interference with other sound sources
Positioning RequirementsPositioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook
Ultrasound Systems – Crickets, Active Bat, Dolphin
System PrincipleOutdoo
r Indoor
Real-time
Accuracy RangeSignal
FrequencyData Rate
Market Cost
CricketTOA,
lateration 1 – 2 cm 10 m ultrasound 1 Hz
development
low
Active BatTOA,
lateration 1 – 5 cm 1000 m2 ultrasound 75 Hz no moderate
DOLPHINTOA,
lateration 2 cm
room scale
ultrasound 20 Hz no moderate
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
Positioning based on Signal Strength
All signals can be used:
WLAN, Ultrasound, RF, GPRS, etc.
Problems:
reliability accuracy
System PrincipleOutdoo
r Indoor
Real-time
Accuracy RangeSignal
FrequencyData Rate
Market Cost
Sonitor RSSI, Cell ID m-level 15 m ultrasound 0.3 Hz yes low
RFIDSignal
Strength dm-m 20 m
RF, 866 MHz
no low
Picture from: USC Robotics Research Lab
Positioning RequirementsPositioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
Conclusions Outdoors: GNSS dominating system for open-skyOutdoors: GNSS dominating system for open-skyIndoors: Indoors: No overall solution yet No overall solution yet
Several indoor systems on the marketSeveral indoor systems on the market low accuracy low accuracy sophisticated setups sophisticated setups limited coverage area limited coverage area inadequate costs inadequate costs
Outlook signals will penetrate buildings signals will penetrate buildings use existing infrastructure use existing infrastructure for higher accuracy are local installations unavoidable for higher accuracy are local installations unavoidable
Project: Building own indoor positioning system!Project: Building own indoor positioning system!
Positioning RequirementsPositioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
End
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