combination of indoor and outdoor positioning dr. rainer mautz eth zürich institute of geodesy and...
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![Page 1: Combination of Indoor and Outdoor Positioning Dr. Rainer Mautz ETH Zürich Institute of Geodesy and Photogrammetry June 24-26, 2008 ETH Zurich](https://reader035.vdocuments.site/reader035/viewer/2022062320/56649d805503460f94a642a7/html5/thumbnails/1.jpg)
Combination of Indoor and Outdoor Positioning
Dr. Rainer Mautz
ETH ZürichInstitute of Geodesy and Photogrammetry
June 24-26, 2008ETH Zurich
![Page 2: Combination of Indoor and Outdoor Positioning Dr. Rainer Mautz ETH Zürich Institute of Geodesy and Photogrammetry June 24-26, 2008 ETH Zurich](https://reader035.vdocuments.site/reader035/viewer/2022062320/56649d805503460f94a642a7/html5/thumbnails/2.jpg)
June 24-26, 2008ETH Zurich
Positioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook
Contents
Positioning Requirements Overview of SystemsGNSSAlternative Positioning SystemsConclusions & Outlook
![Page 3: Combination of Indoor and Outdoor Positioning Dr. Rainer Mautz ETH Zürich Institute of Geodesy and Photogrammetry June 24-26, 2008 ETH Zurich](https://reader035.vdocuments.site/reader035/viewer/2022062320/56649d805503460f94a642a7/html5/thumbnails/3.jpg)
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
June 24-26, 2008ETH Zurich
all environments:
indoors:
household, office & factory
outdoors:
urban & rural
dynamic
Positioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook
![Page 4: Combination of Indoor and Outdoor Positioning Dr. Rainer Mautz ETH Zürich Institute of Geodesy and Photogrammetry June 24-26, 2008 ETH Zurich](https://reader035.vdocuments.site/reader035/viewer/2022062320/56649d805503460f94a642a7/html5/thumbnails/4.jpg)
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)
June 24-26, 2008ETH Zurich
Positioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook
![Page 5: Combination of Indoor and Outdoor Positioning Dr. Rainer Mautz ETH Zürich Institute of Geodesy and Photogrammetry June 24-26, 2008 ETH Zurich](https://reader035.vdocuments.site/reader035/viewer/2022062320/56649d805503460f94a642a7/html5/thumbnails/5.jpg)
June 24-26, 2008ETH Zurich
Positioning Requirements 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 m Accuracy
graphic: Rainer Mautz
![Page 6: Combination of Indoor and Outdoor Positioning Dr. Rainer Mautz ETH Zürich Institute of Geodesy and Photogrammetry June 24-26, 2008 ETH Zurich](https://reader035.vdocuments.site/reader035/viewer/2022062320/56649d805503460f94a642a7/html5/thumbnails/6.jpg)
June 24-26, 2008ETH Zurich
Positioning Requirements 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 m Accuracy
graphic: Rainer Mautz
![Page 7: Combination of Indoor and Outdoor Positioning Dr. Rainer Mautz ETH Zürich Institute of Geodesy and Photogrammetry June 24-26, 2008 ETH Zurich](https://reader035.vdocuments.site/reader035/viewer/2022062320/56649d805503460f94a642a7/html5/thumbnails/7.jpg)
June 24-26, 2008ETH Zurich
Positioning Requirements 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 m Accuracy
graphic: Rainer Mautz
![Page 8: Combination of Indoor and Outdoor Positioning Dr. Rainer Mautz ETH Zürich Institute of Geodesy and Photogrammetry June 24-26, 2008 ETH Zurich](https://reader035.vdocuments.site/reader035/viewer/2022062320/56649d805503460f94a642a7/html5/thumbnails/8.jpg)
June 24-26, 2008ETH Zurich
Positioning Requirements 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 m Accuracy
graphic: Rainer Mautz
![Page 9: Combination of Indoor and Outdoor Positioning Dr. Rainer Mautz ETH Zürich Institute of Geodesy and Photogrammetry June 24-26, 2008 ETH Zurich](https://reader035.vdocuments.site/reader035/viewer/2022062320/56649d805503460f94a642a7/html5/thumbnails/9.jpg)
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
June 24-26, 2008ETH Zurich
no direct line-of-sight:
obstacles
multipath
limitations:
Positioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook
![Page 10: Combination of Indoor and Outdoor Positioning Dr. Rainer Mautz ETH Zürich Institute of Geodesy and Photogrammetry June 24-26, 2008 ETH Zurich](https://reader035.vdocuments.site/reader035/viewer/2022062320/56649d805503460f94a642a7/html5/thumbnails/10.jpg)
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
June 24-26, 2008ETH Zurich
number of satellites
gain
Positioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook
Today: 10 satellites (open sky)
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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
June 24-26, 2008ETH Zurich
Positioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook
![Page 12: Combination of Indoor and Outdoor Positioning Dr. Rainer Mautz ETH Zürich Institute of Geodesy and Photogrammetry June 24-26, 2008 ETH Zurich](https://reader035.vdocuments.site/reader035/viewer/2022062320/56649d805503460f94a642a7/html5/thumbnails/12.jpg)
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?
June 24-26, 2008ETH Zurich
Increase receiver sensibility Increase satellite signal power Use ultra wideband GNSS signals
Positioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook
graphic from: www.semsons.com
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Locata: Terrestrial pseudolite transceivers
June 24-26, 2008ETH Zurich
Alternative Positioning Systems
Positioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook
Picture from Barnes et al. (2003)6thIinternational Symposium on Satellite Navigation Technology , Melbourne, Australia
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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)
June 24-26, 2008ETH Zurich
Positioning Requirements 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
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iGPS
iGPS transmitter and sensor during a test in a tunnel
June 24-26, 2008ETH Zurich
Positioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook
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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
June 24-26, 2008ETH Zurich
Positioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook
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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
June 24-26, 2008ETH Zurich
Picture: Cambridge University
Positioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook
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Problems:
dependency on temperature maximal range deployment of reference beacons multipath reliability interference with other sound sources
June 24-26, 2008ETH Zurich
Positioning Requirements 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
![Page 19: Combination of Indoor and Outdoor Positioning Dr. Rainer Mautz ETH Zürich Institute of Geodesy and Photogrammetry June 24-26, 2008 ETH Zurich](https://reader035.vdocuments.site/reader035/viewer/2022062320/56649d805503460f94a642a7/html5/thumbnails/19.jpg)
Positioning based on Signal Strength
All signals can be used:
WLAN, Ultrasound, RF, GPRS, etc.
Problems:
reliability accuracy
June 24-26, 2008ETH Zurich
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 Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook
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Conclusions
Outdoors: GNSS dominating system for open-skyIndoors: No overall solution yet
Several indoor systems on the market- low accuracy- sophisticated set ups- limited coverage area- inadequate costs
Outlook
signals will penetrate buildingsuse existing infrastructurehigher accuracy local installations unavoidable
June 24-26, 2008ETH Zurich
Positioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook
![Page 21: Combination of Indoor and Outdoor Positioning Dr. Rainer Mautz ETH Zürich Institute of Geodesy and Photogrammetry June 24-26, 2008 ETH Zurich](https://reader035.vdocuments.site/reader035/viewer/2022062320/56649d805503460f94a642a7/html5/thumbnails/21.jpg)
June 24-26, 2008ETH Zurich
End