CSCI 7000 : ADVANCED ROBOTICS

BY: NIKET SHAH

Indoor Positioning SystemDesign Review

Agenda

Current Localization System

Goal

Survey of different technologies

Possible Solution: RSSI based Position Estimation

Possible Solution: Details

Implementation Issues

Current System

PDP uses StarGazer Modules

Output: [X,Y] Co-ordinates along with orientation

Problems: Very Costly Power Consumption Form Factor

Goal

Alternative solution to StarGazer Cost Effective Rapid Prototype Acceptable Accuracy Scalable

Integrate with existing Localization Framework

Survey: Technologies

Wireless Wi-Fi based Indoor Localization RSSI based Triangulation: Zigbee/ISM band SoC

Transcievers CSS (Chirp Spread Spectrum): NanoTron’s nanLOC

transciver

Scene Analysis: StarGazer, Kinect/OpenSLAM

Ultrasonic: Cricket, ActiveBat

Proximity: IR, RFID

Possible Solution: Triangulation

Possible Solution: TI’s CC2431 SoC

2.4 Ghz Zigbee, Low-Power TransceiverIn-built Hardware Localization Engine

Issues

RSSI vs Distance: Non-Linearity Additional algorithms required Survey of location to create RSSI Map

Orientation detection (Digital Compass?)

Multi Level positioning (MEMS Pressure Sensor?)

Budget, Logistics

Thank You!