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January 23, 2006 ©KP
RFID Academic Convocation AUTO-ID Laboratory at MIT RFID Academic Convocation AUTO-ID Laboratory at MIT
CWINS
Trends in RF Location Sensing Prepared by: Kaveh Pahlavan,
Prof. of ECE and CS and Director CWINS, WPI Presented by: Allan H. Levesque
January 23, 2006 RFID Research Convocation
Outline
Evolution of RF Location Sensing Applications
– in Commerce – in Military and Public Safety – in other disciplines
Localization Research at CWINS/WPI – RSS Localization– Accurate Localization Using TOA
January 23, 2006 RFID Research Convocation
Evolution of Localization Industry Problem of locating soldiers carrying mobile radios was first
addressed in World War II During the Vietnam conflict US department of defense lunched a
series of GPS satellites to support military operation In 1990 signals from GPS satellites became accessible to public In 1996 FCC required locating mobile phones with in 100 meters in
67% of locations In 1997 urban and indoor geolocation started
– Military: SUO/SAS project– Commercial: PinPoint, WearNet
In 2000 indoor WiFi localization (Newbury Networks and Ekahau) In 2003 UWB localization for WPANs In 2004 localization for sensor networks In 2005 outdoor WiFi localization as a GPS alternatives
– Commercial: WiFi positioning in outdoor areas (Skyhook)– Military: Signals of opportunity for disaster recovery (DARPA)
January 23, 2006 RFID Research Convocation
Localization in Commerce
January 23, 2006 RFID Research Convocation
Typical Commercial Applications
Asset tracking in warehouses and hospitals Dispatching and monitoring support staff Locating elderly persons Locating children in public areas Emergency management in hospitals Invisible fencing of pets Tracking golf balls Locating surgical equipment in operation rooms Guiding visitors in museums Navigating sight impaired persons GPS complement for indoor applications
January 23, 2006 RFID Research Convocation
PC
Laptop
Printer
Fax
Keyboard
Mouse
Scanner
PDA CRT projector
Video
Pen computer
Hand held computer
Cell phone
iBook
Today Everything is a Terminal!
PROGRAM
MonitorLocation Sensors
PBX
Appliances/Security
Computer/Communication
VCVCRR
Entertainment /Home Networking
Control/Metering
January 23, 2006 RFID Research Convocation
Standards and Terminals
1
100,000
10
100
1,000
10,000
MP
EG
2 V
ideo
3D G
ames
Ba
nd
wid
th (
Kb
ps
)
(100 Mbps)
(10 Mbps)
(1 Mbps)
Pri
nti
ng
Inte
rnet
Acc
ess
Sec
uri
ty S
yste
ms
Tra
dit
ion
al G
ames
Ph
on
e A
pp
lian
ces
Rea
l A
ud
io
MP
3 A
ud
io
Sm
art
Ap
pli
ance
s
Uti
lity
Met
erin
g
Cam
cord
er D
V
US
B C
on
nec
tors
1000,000 (1 Gbps)
Mu
ltip
le H
DT
V
802.15.4 WPAN
802.11 WLAN
802.15.3a WPAN
January 23, 2006 RFID Research Convocation
Mbps1 10 1000.1
Out
door
Fixed
Walk
Vehicle
Indo
or
Fixed/Desktop
Walk
Mobility
WLAN
User Bitrate, Datacom services
WPAN
E-911 (100 meters 67%)
WiFi Positioning (a few meters indoors)
UWB (a few centimeters indoor)
Localization Accuracy
1000
3G Cellular
2G C
ellu
lar
January 23, 2006 RFID Research Convocation
Accurate Localization in Military and Public Safety
January 23, 2006 RFID Research Convocation
Typical Applications
Navigation for fireman Navigation for policemen Providing situation awareness for
soldiers Tracking inmates in prisons Tracking in disaster recovery zones
January 23, 2006 RFID Research Convocation
January 23, 2006 RFID Research Convocation
SUO-SAS and Urban Fighting
January 23, 2006 RFID Research Convocation
Robot in rubble
Localization Everywhere
Forces inside buildings
Unattended ground sensorsUrban canyons
Inside caves
January 23, 2006 RFID Research Convocation
Using Signals of Opportunity
January 23, 2006 RFID Research Convocation
Localization in other Research Areas
Location-based handoff Location-based routing in ad hoc networks Location-based authentication and security
January 23, 2006 RFID Research Convocation
Localization Research at CWINS/WPI
January 23, 2006 RFID Research Convocation
Two Technologies RSS
– Simple hardware • Accuracy is not sensitive to multipath and bandwidth• Does not need synchronization• Can work with any existing infrastructure and card which can measure power
– For accurate localization • Needs high density of references or long training procedure• Needs more complex and computationally intensive algorithms
– Used for WiFi Positioning by Ekahau, Newbury Networks, PanGo, Skyhook. TOA
– Suitable for accurate indoor positioning• Only needs a few references• Does not need training
– More complex hardware • Accuracy is sensitive to multipath and bandwidth• Needs synchronization of the reference time
– Used in GPS, PinPoint, WearNet, 802.15.3 and 4.
January 23, 2006 RFID Research Convocation
Two Classes of Algorithms
Tx1Tx2
Tx
3
d1
d2
d3
x
x
x
x
x
x
x
x
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x x
x x
x x
x x
x x
x x
x x
x x
x x
x
AP1 AP2
AP3
AP4 AP5
MH
100 m
ReferencePoint
100
m
GridResolution
Y
X
Distance Based Localization
Pattern Recognition
January 23, 2006 RFID Research Convocation
RSS Localization at CWINS Microsoft: Nearest Neighbor algorithm based on signature data collection in a
training period.– P. Bahl and V. Padmanabhan, “RADAR: an in-building RF-based user location and
tracking system,” IEEE INFOCOM, Israel, March 2000. Ekahau: Uses a statistical algorithms for localization with improved accuracy
and reduced training data.– T. Roos, P. Myllymaki, H. Tirri, P. Miskangas, and J. Sievanen, “A Probabilistic
Approach to WLAN User Location Estimation,” International Journal of Wireless Information Networks, Vol. 9, No. 3, July 2002.
CWINS: Develops a real time laboratory testbed and a framework for comparactive performance evaluation of localization algorithms.
– M. Heidari and K. Pahlavan, Performance Evaluation of Indoor Geolocation Systems Using PROPSim Hardware and Ray Tracing Software, IWWAN’04, Oulu, Finland, May 2004.
CWINS: Uses channel modeling techniques (Ray Tracing and WiFi channel models) to eliminate the need for training data and improve the performance.
– A. Hatami, and Kaveh Pahlavan, " Comparative statistical analysis of indoor positioning using empirical data and indoor radio channel models," Consumer communications and networking conference, 2006.
January 23, 2006 RFID Research Convocation
Challenges for TOA Estimation
Coverage– Existing knowledge only supports coverage of the total power while in
TOA estimation we are keen on the coverage of the DP. We need more measurement and modeling effort to solve this problem.
Bandwidth– Common belief: increase in bandwidth increases the resolution
therefore UWB is the final solution– Problem: Increase in bandwidth reduces the coverage of the first
path, which means UWB is not the ultimate solution for Indoor Geolocation
UDP– Errors caused by UDP conditions are very large – Detection of UDP is difficult, so we can not avoid UDPs– If we detect the UDP and avoid, coverage become very small
Therefore: we need research in algorithms which operate in UDP conditions and provide good coverage with reasonable bandwidth
January 23, 2006 RFID Research Convocation
TOA Research at CWINS
Modeling of the behavior of TOA sensors (for NSF) UWB
– For high-resolution short distance (for DARPA)
Super-resolution algorithms– For signals of opportunity (with NSF and RCI)
Diversity Techniques– AOA (with Draper Laboratory)– Space and cooperative location estimation (with IWT)
January 23, 2006 RFID Research Convocation
Conclusion Localization is one of the fastest growing
industries attracting strong research investments from military and commerce
Variety of applications are emerging around RSS and TOA based technologies
CWINS is the oldest laboratory working in both RSS and TOA technologies with close ties to commerce and military
Localization for RFID applications is one the areas of interest at CWINS for future research
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