real time livestock tracking system based on uwb … · 2018-01-04 · real time livestock tracking...

Real Time Livestock Tracking System Based on

UWB Technology

Jaroslaw Baszun, Andrzej Sawicki, Krzysztof Muzyka

BioControl Poland

Bialystok, Poland

[email protected], [email protected], [email protected]

Abstract—A real time animal localization system was

developed based on UWB technology. The system consists of a set

of fixed receivers (anchors), clock distributor, tags and optionally

clock repeaters. Two types of tags were developed: ear tag and

collar tag. They differ in size and battery life time.

Communication between anchors, clock, repeaters and PC is

based on Ethernet. The system requires minimum four anchors

for 2D localization and one more for 3D localization. Clocks

signal and synchronization signal is distributed with power

supply using Ethernet cables to anchors. It is possible to connect

up to 10 anchors to the clock distributor. If more anchors are

needed clock repeaters are used which can be cascaded to

encompass required area. Anchors are placed approximately in

distance up to 40 meters depend on obstacles and 3 to 5 meters

over maximal altitude expected for tags’ location. Developed

software calculate position of tags based on time difference of

arrival of tags’ messages to anchors. Calculated positions of

tracking objects and other telemetric data are stored in database

and also can be shown in real time on the floor plan. For optimal

anchor placement special simulation software was developed. A

number of modules for animal health monitoring based on

gathering data are under development.

Keywords—RTLS; UWB; wired synchronization; precision

farming;

I. INTRODUCTION

Among many promising technologies applied in real-time location systems (RTLS) ultra wide band communication seems the most appropriate for tracking animals on farms in buildings. It is come due to hard conditions usually met on farms which cause problems with keeping clean optical sensors for example. In recent years a few companies offers commercial systems based on UWB both working based on time difference of arrival and angle of arrival. The main disadvantage of these solutions is cost of devices. Our solutions stand out among them with a lower cost of infrastructure and good precision of localization.

II. INFRASTRUCTURE

The location system consist of one clock distributor, minimum five anchors (receivers in fixed positions) for 3D localization, optionally clock repeaters and tags (see Fig. 1).

Clock distributor is a source of very precision clock signal for receiver circuits in anchors and a source of synchronization

signal which is used to set counters in receivers to known state. Each clock distributor has ten outputs so ten anchors can be connected. Clock signal can be distributed to distance over 100 meters. In large systems clock repeaters can be connected to get required structure of the installation. Data with time of arrival and telemetry are sending via Ethernet to data server where position is calculated and stored with other data in database. Designed tags have very flexible software and several parameters can be configured using selected anchors as a beacons or using independent external device. Tag configuration can be changed via radio permanently or locally which means that for some regions tags behave in another way than in others. Number of sent blinks (messages) can be fixed in time or depend on activeness of tracking object what is favorable for battery lifetime.

Fig. 1. Real time location system infrastructure.

III. POSITION CALCULATION

The RTLS technique based on Time Difference of Arrival (TDoA) provides an object position determination service by calculation intersection of hyperboloids obtained on the basis of the measured differences in time of radio impulse arrival to individual anchors. Using sets of hyperboloids equations[1], which coefficients were determined based on the relative

This work was partly financed from EU Innovative Economy

Programme, 2007-2013.

position ofimpulse from tag, it is possible to calculate position of this tag. Position determination can be computed by finding intersection of hyperboloid equations, designated on the base of anchors coordinates andarrival of radio impulse generated by tag [2,5].

Fig. 2.

space.

the steps described below

establish connection between each other using local Ethernet network. Next anchors send synchronization request to clock, andsynchronization pulse for all anchors. Anchors synchronize their internal clocks, according to generated synchronization pulse.

unique tag identifier. Anchors receive radio impulstags and then send Ethernet data packets containidentifiertelemetry dataanchors and designate time differences of arrival informatbased on saved timestamps. TDoA of all received messages are used to calculate position of tags using multilateration algorithm and positions are stored in data server database.

influenced by appropriate location of

is necessary to provide a method for optimal displacement of

set of anchors,

of determined coordinates of active tags in test area[4]

is provided a method based on Monte Carlo algorithm, for

finding optimal information about precise displacement of

anchors in the area of interest, that minimizes possibility of

the erroneous designation of a tags coordinates.


Fig. 2.

space.

The process of anchors synchronization in system the steps described below

Clock synchronization server, anchors andestablish connection between each other using local Ethernet network. Next anchors send synchronization request to clock, and synchronization pulse for all anchors. Anchors synchronize their internal clocks, according to generated synchronization pulse.

Tags transmit series of radio impulses with data contained unique tag identifier. Anchors receive radio impulstags and then send Ethernet data packets containidentifiertelemetry dataanchors and designate time differences of arrival informatbased on saved timestamps. TDoA of all received messages are used to calculate position of tags using multilateration algorithm and positions are stored in data server database.

The accuracy of the position determination is



set of anchors,







Real

IV.


Clock synchronization server, anchors andestablish connection between each other using local Ethernet network. Next anchors send synchronization request to clock,

clock synchronization servesynchronization pulse for all anchors. Anchors synchronize their internal clocks, according to generated synchronization

Tags transmit series of radio impulses with data contained unique tag identifier. Anchors receive radio impulstags and then send Ethernet data packets containidentifier, telemetry dataanchors and designate time differences of arrival informatbased on saved timestamps. TDoA of all received messages are used to calculate position of tags using multilateration algorithm and positions are stored in data server database.




set of anchors,






position of anchors and time differences of arrival of radio impulse from tag, it is possible to calculate position of this tag. Position determination can be computed by finding intersection of hyperboloid equations, designated on the base of anchors coordinates andarrival of radio impulse generated by tag [2,5].

Real time

IV. SYNCHRONIZATION AND




Tags transmit series of radio impulses with data contained unique tag identifier. Anchors receive radio impulstags and then send Ethernet data packets contain

the timestamp of received radio impulsetelemetry dataanchors and designate time differences of arrival informatbased on saved timestamps. TDoA of all received messages are used to calculate position of tags using multilateration algorithm and positions are stored in data server database.

V.




set of anchors,






anchors and time differences of arrival of radio impulse from tag, it is possible to calculate position of this tag. Position determination can be computed by finding intersection of hyperboloid equations, designated on the base of anchors coordinates and arrival of radio impulse generated by tag [2,5].

ime location

YNCHRONIZATION AND





the timestamp of received radio impulsetelemetry data to the data server. Server collects data from all anchors and designate time differences of arrival informatbased on saved timestamps. TDoA of all received messages are used to calculate position of tags using multilateration algorithm and positions are stored in data server database.

V. O




set of anchors, which






anchors and time differences of arrival of radio impulse from tag, it is possible to calculate position of this tag. Position determination can be computed by finding intersection of hyperboloid equations, designated on the base of anchors

measured by anchors time differences of arrival of radio impulse generated by tag [2,5].

ocation

YNCHRONIZATION AND





the timestamp of received radio impulseto the data server. Server collects data from all

anchors and designate time differences of arrival informatbased on saved timestamps. TDoA of all received messages are used to calculate position of tags using multilateration algorithm and positions are stored in data server database.

OPTIMAL




which








ocation system equipment and its possible location in

YNCHRONIZATION AND







PTIMAL




which will ensure the least possible error level








ystem equipment and its possible location in

YNCHRONIZATION AND

The process of anchors synchronization in system the steps described below (see






PTIMAL ANCHORS




will ensure the least possible error level









YNCHRONIZATION AND

The process of anchors synchronization in system (see Fig.






NCHORS













YNCHRONIZATION AND

The process of anchors synchronization in system Fig. 3






NCHORS













YNCHRONIZATION AND COMMUNICATION

The process of anchors synchronization in system 3).






NCHORS DEPLOYMENT


influenced by appropriate location of a











OMMUNICATION

The process of anchors synchronization in system


clock synchronization server generates clock synchronization pulse for all anchors. Anchors synchronize their internal clocks, according to generated synchronization




EPLOYMENT


anchors. Accordingly, it











OMMUNICATION



r generates clock synchronization pulse for all anchors. Anchors synchronize their internal clocks, according to generated synchronization




EPLOYMENT


nchors. Accordingly, it











OMMUNICATION







EPLOYMENT











measured by anchors time differences of


OMMUNICATION


Clock synchronization server, anchors and data serverestablish connection between each other using local Ethernet network. Next anchors send synchronization request to clock,


Tags transmit series of radio impulses with data contained unique tag identifier. Anchors receive radio impulses sent by tags and then send Ethernet data packets containing

the timestamp of received radio impulse to the data server. Server collects data from all


EPLOYMENT












OMMUNICATION

The process of anchors synchronization in system includes

data serverestablish connection between each other using local Ethernet network. Next anchors send synchronization request to clock,


Tags transmit series of radio impulses with data contained es sent by

ing the tag and other

to the data server. Server collects data from all anchors and designate time differences of arrival informatbased on saved timestamps. TDoA of all received messages are used to calculate position of tags using multilateration algorithm and positions are stored in data server database.





of determined coordinates of active tags in test area[4].







includes

data serverestablish connection between each other using local Ethernet network. Next anchors send synchronization request to clock,



the tag and other

to the data server. Server collects data from all anchors and designate time differences of arrival information based on saved timestamps. TDoA of all received messages are used to calculate position of tags using multilateration algorithm and positions are stored in data server database.

The accuracy of the position determination is highly




. There







includes

data server establish connection between each other using local Ethernet network. Next anchors send synchronization request to clock,



the tag and other

to the data server. Server collects data from all ion

based on saved timestamps. TDoA of all received messages are used to calculate position of tags using multilateration

highly




ere




Fig. 3.

analysis in the process of design deployment of anchors in the analyzed area. When planning optimal anchors deployment, design must be proved to work properly in allMonte Carlo algorithm is used to generate set of possible coordinatesvalues Next real locations and those calculated from TDoA data are compared. fault tolerance) is then evaluated and, if results are not satisfactory, the anchors deployment design goes through an optimization proc

[1]

[2]

[3]

[4]

[5]

Fig. 3. Real

Monte Carlo method is used for sensitivity and quantitative analysis in the process of design deployment of anchors in the analyzed area. When planning optimal anchors deployment, design must be proved to work properly in allMonte Carlo algorithm is used to generate set of possible coordinatesvalues Next real locations and those calculated from TDoA data are compared. fault tolerance) is then evaluated and, if results are not satisfactory, the anchors deployment design goes through an optimization proc

B.T. fixes”, IEEE Trans. Aerosp. Elect. Systems 26(5),

A. hyperbolic location, ICASSP'04

Li Cong, Location for Wideband CDMA Cellular Systems, Wireless Communications, IEEE Transactions on , (Volume:1 , Issue: 3 ), 2002, pp. 439

D. Cyganski, J.A. Orr, Precision Indoor Positioning System,” Proceedings of Institute of Navigation, Annual Meeting, 2004 , Dayton OH, June 7, 2004

Fredrik Gustafsson,difference of arrival measurements, Acoustics, Speech, and Processing, 2003. Proceedings. (ICASSP '03). 2003 IEEE International Conference on ,VI

Real

Monte Carlo method is used for sensitivity and quantitative analysis in the process of design deployment of anchors in the analyzed area. When planning optimal anchors deployment, design must be proved to work properly in allMonte Carlo algorithm is used to generate set of possible coordinatesvalues statistical error introduced in real system are Next real locations and those calculated from TDoA data are compared. fault tolerance) is then evaluated and, if results are not satisfactory, the anchors deployment design goes through an optimization proc

B.T. Fang, “Simple solutions for a hyperbolic and related position fixes”, IEEE Trans. Aerosp. Elect. Systems 26(5),

A. Urruelahyperbolic location, ICASSP'04

Li Cong, Location for Wideband CDMA Cellular Systems, Wireless Communications, IEEE Transactions on , (Volume:1 , Issue: 3 ), 2002, pp. 439



Real time

Monte Carlo method is used for sensitivity and quantitative analysis in the process of design deployment of anchors in the analyzed area. When planning optimal anchors deployment, design must be proved to work properly in allMonte Carlo algorithm is used to generate set of possible coordinates of locations

statistical error introduced in real system are Next real locations and those calculated from TDoA data are compared. Anchors dislocation performance (in the sense of fault tolerance) is then evaluated and, if results are not satisfactory, the anchors deployment design goes through an optimization proc

Fang, “Simple solutions for a hyperbolic and related position fixes”, IEEE Trans. Aerosp. Elect. Systems 26(5),

Urruela, hyperbolic location, ICASSP'04

Li Cong, and Location for Wideband CDMA Cellular Systems, Wireless Communications, IEEE Transactions on , (Volume:1 , Issue: 3 ), 2002, pp. 439 – 447



ime location

Monte Carlo method is used for sensitivity and quantitative analysis in the process of design deployment of anchors in the analyzed area. When planning optimal anchors deployment, design must be proved to work properly in allMonte Carlo algorithm is used to generate set of possible

of locationsstatistical error introduced in real system are

Next real locations and those calculated from TDoA data are Anchors dislocation performance (in the sense of

fault tolerance) is then evaluated and, if results are not satisfactory, the anchors deployment design goes through an optimization process.


and hyperbolic location, ICASSP'04

and Location for Wideband CDMA Cellular Systems, Wireless Communications, IEEE Transactions on , (Volume:1 , Issue: 3 ), 2002,

447.



ocation




fault tolerance) is then evaluated and, if results are not satisfactory, the anchors deployment design goes through an

ess.


and J. Ribahyperbolic location, ICASSP'04

and Weihua Zhuang, Hybrid TDOA/AOA Mobile User Location for Wideband CDMA Cellular Systems, Wireless Communications, IEEE Transactions on , (Volume:1 , Issue: 3 ), 2002,


Fredrik Gustafsson, difference of arrival measurements, Acoustics, Speech, and Processing, 2003. Proceedings. (ICASSP '03). 2003 IEEE International Conference on ,VI - 553

ocation system synchronization process .






Riba, hyperbolic location, ICASSP'04

Weihua Zhuang, Hybrid TDOA/AOA Mobile User Location for Wideband CDMA Cellular Systems, Wireless Communications, IEEE Transactions on , (Volume:1 , Issue: 3 ), 2002,


and difference of arrival measurements, Acoustics, Speech, and Processing, 2003. Proceedings. (ICASSP '03). 2003 IEEE International

553-6 vol.6

tem synchronization process .


of locations in tested area and then the TDoA statistical error introduced in real system are



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D. Cyganski, J.A. Orr, and Precision Indoor Positioning System,” Proceedings of Institute of Navigation, Annual Meeting, 2004 , Dayton OH, June 7, 2004

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Fang, “Simple solutions for a hyperbolic and related position fixes”, IEEE Trans. Aerosp. Elect. Systems 26(5), 1990, pp.






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Fang, “Simple solutions for a hyperbolic and related position 1990, pp.





Monte Carlo method is used for sensitivity and quantitative analysis in the process of design deployment of anchors in the analyzed area. When planning optimal anchors deployment,

area of interest. Monte Carlo algorithm is used to generate set of possible

in tested area and then the TDoA statistical error introduced in real system are calculat



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in tested area and then the TDoA calculat



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real time livestock tracking system based on uwb … · 2018-01-04 · real time livestock tracking...

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