INDOOR LOCALIZATION AND NAVIGATION FOR PERVASIVE AND SENSOR-BASED COMPUTING ENVIRONMENT

Widyawan

Electrical Engineering and Information Technology Department Gadjah Mada University

AGENDA

Vision of Pervasive Computing Indoor Localization Fingerprinting-based Indoor Localization Particle Filter algorithm Pedestrian Dead Reckoning Challenges Remain

OLD PARADIGM

For over forty years, computation has centered about machines, not people. We have catered to expensive computers, pampering them in air-conditioned rooms or carrying them around with us. Purporting to serve us, they have actually forced us to serve them …. [MIT Oxygen Project]

VISION OF PERVASIVE COMPUTING

In the future, computation will be human-centered.

It will be available everywhere but invisible (embedded sensors)

Post-desktop [Mark Weiser, 1988]

FEATURES AND APPLICATION

Features: Transparent interfaces: gesture recognition,

speed recognition Context-aware: location and time

Example of Applications: Print this document to Mr. Risanuri Follow me GUI Smart Building

Knowing user location is key … !

LOCALIZATION TECHNOLOGIES

LOCALIZATION SENSORS

Ultrasound WSN Bluetooth

GPS RFID UWB

METHODS

TrilaterationMultilateration

Fingerprint

Dead Reckoning

APPLICATIONS

www.ubiaware.com

Industrial : Car Manufacture Healthcare

Retail Logistik

FINGERPRINT AND CONVENTIONAL ALGORITHMS

Pattern recognition algorithm: kNN ANN

But, it is not enough ! Random noise Non Gaussian system

Non linear filtering is needed

BAYESIAN FILTERING

zt-1 zt Zt+1

Xt-1 Xt Xt+1

Hidden Markov Model

ttp zx

ttp xz

1ttp xx

11 ttp zx

1111 ttttttttt dpppkp xzxxxxzzx

PARTICLE FILTER FOR LOCALIZATION

000011111 xzxxxxzzx dpppkp

a posteriori distribution at t =1

measurement model

a posteriori distribution at t =0

motion model

MEASUREMENT MODEL

For incorporating sensor measurement into the particle filter

Fingerprint z

hitpmissp extrap

Based on 3 types of dissimilarities

z z

.)|(.)|(.)|(||

1

Mkt

ktextra

Lkt

ktmiss

K

Kkt

kthittt zpzpzpp xxxxz

MOTION MODEL & MAP FILTERING

)|(

0itt

it pw

xz

tit

it

it

tit

it

it

it

iti

tntvy

ntvx

y

x

)sin(

)cos(

1

1

x

TEST-BED EXPERIMENT [VIDEO]

DEAD RECKONING

Widely Used in

SENSORS

TOOLS TO BE USED

APPLICATIONS

Pedestrian Dead Reckoning

DETECTING THE STEPS

PARTICLE FILTERING FOR DEAD RECKONING [VIDEO]

CHALLENGES AND OPPORTUNITIES

The ubiquity of accurate, low-powered sensors

The ‘killer’ applications Energy saving, assisted living, office/productivity,

convenience ? Standards and interoperability Privacy and Security Internet of things The RTLS market will grow from $153 Million

in 2009 to $2.6 Billion in 2018