doc.: ieee 802.22-11/0078r01 submission july 2011 russ markhovsky, invisitrack, inc.slide 1...

doc.: IEEE 802.22-11/0078r01

Submission

July 2011

Russ Markhovsky, InvisiTrack, Inc.Slide 1

Precision Geolocation in Challenging Environments

Name Company Address Phone email Russ Markovsky InvisiTrack, Inc. (410) 991-8529 [email protected]

Upkar Dhaliwal InvisiTrack, Inc (858) 926-5839 [email protected]

Authors:

AbstractThis tutorial is for the IEEE 802 Plenary session on July 2011 in San Francisco The presentation describes how location techniques can improve the proposed geo-location range and accuracy for determining location in challenging environments.

Notice: This Document has been prepared to assist the IEEE P802.22. It is offered as a basis for discussion and is not binding on the contributing individual(s) or organization(s). The material in this document is subject to change in form and content after further study. The contributor(s) reserve(s) the right to add, amend or withdraw material contained herein.

Release:The contributor acknowledges and accepts that this contribution becomes the property of IEEE and may be made publicly available by P802.22.

doc.: IEEE 802.22-11/0078r1

Submission

July 2011


Possible Use Cases

doc.: IEEE 802.22-11/0078r1

Submission

Rural Geo-Location

July 2011


30 km

Backhaul

BS

CPE

CPE

CPE

doc.: IEEE 802.22-11/0078r1

Submission

Outdoor Geo-Location

July 2011


Geo-Locate over long distances

Needs either multiple Base Stations …

or a Base Station and a number of reference CPEs for which the latitude and longitude are known

doc.: IEEE 802.22-11/0078r1

Submission

Urban Corridor and Indoor Geo-Location

July 2011


Geo-Locate over shorter distances

Needs to operate in harsh multipath environment

Either a terminal (nomadic CPE) or base station/ fixed CPE originates the ranging signal

doc.: IEEE 802.22-11/0078r1

Submission

Multiple Use Cases

PUBLIC SAFETY/MILITARY

Locate/Track Personnel

Search & RescueMonitor Military Campaigns

SALES & MARKETING

Social NetworkingLocation-aware Advertising

Social Gaming

LBS / ASSET TRACKING

Warehouses Equipment & Supplies

Disaster Recovery

Russ Markhovsky, InvisiTrack, Inc.6

July 2011

doc.: IEEE 802.22-11/0078r01

Submission

Integrated (Hybrid Positioning Enhancement)

400 meters

7 Russ Markhovsky, InvisiTrack, Inc.

GPS A-GPS Cell-ID ISM BANDS

3 meters 50 meters 300 meters 100 meters 6 meters

July 2011

TVWS BANDS

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Submission

Defining Core Problem

July 2011


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Submission

Signal Propagation - Background

• Signal penetration in dielectric– Loss varies as square root of wavelength

• Lower frequencies penetrate better than higher• Example: with the same loss, 240 MHz penetrates 3.2 times further

than 2.4 GHz or, at same distance, loss at 2.4 GHz is 10 dB greater.

– Dispersion (multipath): inversely proportional to wavelength• Objects smaller than the wavelength don’t reflect;• Objects larger than the wavelength, reflect and generate multipath

dispersion.

July 2011


doc.: IEEE 802.22-11/0078r01

Submission

White Spaces Superior Platform for Location

The lower the frequency, the greater the ability to penetrate buildings and thereby improve location positioning accuracy and reliability.

512 MHz

900 MHz

2.4 GHz

5.6 GHz (UWB)

Obstacle: Metal Beam

FrequencySpectrum

High

Low

10 Russ Markhovsky, InvisiTrack, Inc.

July 2011

Ideal forTerrestrial Geolocation

Ideal forTerrestrial Geolocation

doc.: IEEE 802.22-11/0078r01

Submission

Proposed Solutions

July 2011


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Submission

July 2011


• With the required +/- 15 m ranging accuracy, once impact of SNR and other imperfections are taken into account, there is little room left for the actual ranging errors that are associated with ranging in a dense multipath environment in buildings/ urban corridors where multipath echoes are closely spaced

• Multipath Mitigation

• Real-time ranging signal (terrestrial positioning signal) processing algorithm (method) that mitigates multipath and delivers high accuracy using < 6 MHz of bandwidth

How do you deal with complex environment location?

doc.: IEEE 802.22-11/0078r01

Submission

Multipath Mitigation

July 2011


doc.: IEEE 802.22-11/0078r01

Submission

Multipath Mitigation Overview

• Can be easily incorporated into OFDM based wireless networks,– Employs existing wireless network signals

• Reference and/ or pilot signals, etc.

– No changes to HW and OS

• Developed for indoor and challenging outdoor environments– Dense multipath environment

• Low computational intensity multipath mitigation algorithms– Can be executed in software by a mobile terminal

• Developed for fixed and mobile environment– Allows simultaneous tracking of hundreds terminals

July 2011


doc.: IEEE 802.22-11/0078r01

Submission

• Geolocation ranging signal is < 6 MHz BW(i.e., does not require channel bonding).

• The ranging signal consists of:– Pilot signals or subcarrier signals; or – A combination of pilots and subcarriers;

• The ranging signal subcarriers do not need to be modulated; the modulation may also be applied, for example QPSK, as long as the modulation signal is known beforehand.

Solution IntegrationJuly 2011


doc.: IEEE 802.22-11/0078r01

Submission

Multipath Mitigation Processor

• Maps time delay to phase offset – resulting in observables sums of complex sinusoids;

• Uses optimized high-resolution spectrum estimation analysis methods and techniques; – Algorithms designed to separate direct path for

Accurate range estimation• Methods and techniques support frequency

estimations (delays) that approach the Cramer-Rao Bound (CRB).

July 2011


doc.: IEEE 802.22-11/0078r01

Submission

Solution Integration • Can be seamlessly integrated into the current 802.22 geolocation model – uses

complex channel impulse response in the frequency domain

Current 802.22 Geo-location model

1p 2p

2m

Noise

2p

21

Signal

New option for 802.22 Geo-location model

Multipath Processor

July 2011


doc.: IEEE 802.22-11/0078r01

Submission

Ranging Modes

July 2011


doc.: IEEE 802.22-11/0078r01

Submission

One-way and Two-way mode ranging

doc.: IEEE 802.22-11/0078r01

Submission

Test Results

July 2011


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Submission

Geo-location Results• Developed portable, battery-operated proof of concept:

– Dimensions: 3x4x2 inches

– Operating frequencies: VHF (High-band)

– Operating bandwidth: 5 MHz

• In all tests TX and RX antennas heights were between 0.5 meter to 1.5 meters from the ground .

July 2011


doc.: IEEE 802.22-11/0078r01

Submission

Environment Range (m) Accuracy (m), >=67%

confidence

Accuracy (m), >=95%

confidence

Comments

Coaxial cables 500 (equiv) N/A 0.5 With multipath simulator

Analog Proof of Concept Devices Outdoor 350 2 3 Suburban setting

Difficult Indoor 125 4 8 Multiple floor buildings

Extreme, Indoor parking 125 4 8

Reinforced Concrete structure

July 2011


Geolocation Results

doc.: IEEE 802.22-11/0078r01

Submission

UMBC Field

0 20 40 60 80 100 120 1400.2

0.4

0.6

0.8

1Amplitude 0001-0004-2011-02-28-10-10-44.mat

Scan

Am

plitu

de

0 20 40 60 80 100 120 1400

0.05

0.1

0.15

0.2Delta Phase 0001-0004-2011-02-28-10-10-44.mat

Scan

Pha

se

0 20 40 60 80 100 120 1400.4

0.6

0.8

1Amplitude 0002-0004-2011-02-28-10-10-44.mat

Scan

Am

plitu

de

0 20 40 60 80 100 120 1400

0.05

0.1

0.15

0.2Delta Phase 0002-0004-2011-02-28-10-10-44.mat

Scan

Pha

se

0 20 40 60 80 100 120 1400.4

0.5

0.6

0.7

0.8Amplitude 0003-0004-2011-02-28-10-10-44.mat

Scan

Am

plitu

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0 20 40 60 80 100 120 1400

0.1

0.2

0.3

0.4Delta Phase 0003-0004-2011-02-28-10-10-44.mat

Scan

Pha

se

July 2011


Amplitude Estimate

Phase Estimate

doc.: IEEE 802.22-11/0078r01

Submission

Conversion to Distance

0 10 20 30 40 50 60 70 80 90 1000

5

10

15

20

25

30

35

40

45

500001-0004-2011-02-28-10-10-44

distance (m)

perc

ent

(%)

0 10 20 30 40 50 60 70 80 90 1000

10

20

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60

700002-0004-2011-02-28-10-10-44

distance (m)

perc

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(%)

0 10 20 30 40 50 60 70 80 90 1000

10

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30

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50

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700003-0004-2011-02-28-10-10-44

distance (m)

perc

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(%)

July 2011


doc.: IEEE 802.22-11/0078r01

Submission

UMBC Field

-80 -60 -40 -20 0 20 40

-80

-60

-40

-20

0

20

40

2011-02-28-10-10-44.mat

Pseudo-East (m)

Pse

udo-

Nor

th (

m)

Target 4Error Ellipse

Master 1

Master 2

Master 3Iso-Range

July 2011


doc.: IEEE 802.22-11/0078r01

Submission

UMBC Engineering

0 20 40 60 80 100 120 1400

0.5

1

1.5Amplitude 0001-0005-2011-04-21-15-18-09.mat

Scan

Am

plitu

de

0 20 40 60 80 100 120 1400.02

0.03

0.04

0.05Delta Phase 0001-0005-2011-04-21-15-18-09.mat

Scan

Pha

se

0 20 40 60 80 100 120 1400

0.5

1

1.5Amplitude 0002-0005-2011-04-21-15-18-09.mat

Scan

Am

plitu

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0 20 40 60 80 100 120 1400.04

0.05

0.06

0.07

0.08Delta Phase 0002-0005-2011-04-21-15-18-09.mat

Scan

Pha

se

0 20 40 60 80 100 120 1400

0.5

1

1.5Amplitude 0006-0005-2011-04-21-15-18-09.mat

Scan

Am

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0 20 40 60 80 100 120 1400.01

0.02

0.03

0.04Delta Phase 0006-0005-2011-04-21-15-18-09.mat

Scan

Pha

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0 20 40 60 80 100 120 1400.2

0.4

0.6

0.8

1Amplitude 0007-0005-2011-04-21-15-18-09.mat

Scan

Am

plitu

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0 20 40 60 80 100 120 140-0.1

0

0.1

0.2

0.3Delta Phase 0007-0005-2011-04-21-15-18-09.mat

Scan

Pha

se

July 2011


doc.: IEEE 802.22-11/0078r01

Submission


0 10 20 30 40 50 60 70 80 90 1000

5

10

15

20

250001-0005-2011-04-21-15-18-09

distance (m)

perc

ent

(%)

0 10 20 30 40 50 60 70 80 90 1000

5

10

15

20

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30

35

400002-0005-2011-04-21-15-18-09

distance (m)

perc

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(%)

0 10 20 30 40 50 60 70 80 90 1000

10

20

30

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50

60

700006-0005-2011-04-21-15-18-09

distance (m)

perc

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(%)

0 10 20 30 40 50 60 70 80 90 1000

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600007-0005-2011-04-21-15-18-09

distance (m)

perc

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(%)

July 2011


doc.: IEEE 802.22-11/0078r01

Submission

Result

0 10 20 30 40 50

0

10

20

30

40

50

2011-04-21-15-18-09.mat

Pseudo-East (m)

Pse

udo-

Nor

th (

m)

Master 1

Master 2Master 6

Master 7

July 2011


doc.: IEEE 802.22-11/0078r01

Submission

Additional Test Results

July 2011


doc.: IEEE 802.22-11/0078r01

Submission

UMBC Parking Garage

0 20 40 60 80 100 120 1400

0.5

1

1.5Amplitude 0001-0005-2011-04-29-13-51-03.mat

Scan

Am

plitu

de

0 20 40 60 80 100 120 140-1

-0.5

0

0.5Delta Phase 0001-0005-2011-04-29-13-51-03.mat

Scan

Pha

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0 20 40 60 80 100 120 1400

0.5

1

1.5Amplitude 0001-0006-2011-04-29-13-51-03.mat

Scan

Am

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0 20 40 60 80 100 120 140-0.4

-0.2

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0.2

0.4Delta Phase 0001-0006-2011-04-29-13-51-03.mat

Scan

Pha

se

0 20 40 60 80 100 120 1400

0.5

1

1.5Amplitude 0001-0007-2011-04-29-13-51-03.mat

Scan

Am

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0 20 40 60 80 100 120 140-2

-1

0

1Delta Phase 0001-0007-2011-04-29-13-51-03.mat

Scan

Pha

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July 2011


doc.: IEEE 802.22-11/0078r01

Submission

Conversion To Distance

0 10 20 30 40 50 60 70 80 90 1000

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10

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20

25

300001-0007-2011-04-29-13-51-03

distance (m)

perc

ent

(%)

0 10 20 30 40 50 60 70 80 90 1000

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350001-0005-2011-04-29-13-51-03

distance (m)

perc

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(%)

0 10 20 30 40 50 60 70 80 90 1000

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350001-0006-2011-04-29-13-51-03

distance (m)

perc

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(%)

July 2011


doc.: IEEE 802.22-11/0078r01

Submission

Result

0 20 40 60 80 100 120

0

20

40

60

80

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1202011-04-29-13-51-03.mat

Pseudo-East (m)

Pse

udo-

Nor

th (

m)


Master 5

Master 6

Master 7Iso-Range

July 2011


doc.: IEEE 802.22-11/0078r01

Submission

UMBC Commons

July 2011


doc.: IEEE 802.22-11/0078r01

Submission

UMBC Engineering (Example 2)

0 20 40 60 80 100 120 1400

0.5

1

1.5Amplitude 0001-0002-2011-04-21-14-37-13.mat

Scan

Am

plitu

de

0 20 40 60 80 100 120 140-0.4

-0.2

0

0.2

0.4Delta Phase 0001-0002-2011-04-21-14-37-13.mat

Scan

Pha

se

0 20 40 60 80 100 120 1400

0.5

1

1.5Amplitude 0001-0005-2011-04-21-14-37-13.mat

Scan

Am

plitu

de

0 20 40 60 80 100 120 1400.01

0.02

0.03

0.04

0.05Delta Phase 0001-0005-2011-04-21-14-37-13.mat

Scan

Pha

se0 20 40 60 80 100 120 140

0

0.5

1

1.5Amplitude 0001-0006-2011-04-21-14-37-13.mat

Scan

Am

plitu

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0 20 40 60 80 100 120 140-0.05

0

0.05

0.1

0.15Delta Phase 0001-0006-2011-04-21-14-37-13.mat

Scan

Pha

se

0 20 40 60 80 100 120 1400

0.5

1

1.5Amplitude 0001-0007-2011-04-21-14-37-13.mat

Scan

Am

plitu

de

0 20 40 60 80 100 120 140-1

-0.5

0

0.5

1Delta Phase 0001-0007-2011-04-21-14-37-13.mat

Scan

Pha

se

July 2011


doc.: IEEE 802.22-11/0078r01

Submission


0 10 20 30 40 50 60 70 80 90 1000

5

10

15

20

25

30

350001-0002-2011-04-21-14-37-13

distance (m)

perc

ent

(%)

0 10 20 30 40 50 60 70 80 90 1000

5

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15

20

25

300001-0005-2011-04-21-14-37-13

distance (m)

perc

ent

(%)

0 10 20 30 40 50 60 70 80 90 1000

5

10

15

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25

30

350001-0006-2011-04-21-14-37-13

distance (m)

perc

ent

(%)

0 10 20 30 40 50 60 70 80 90 1000

5

10

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20

25

300001-0007-2011-04-21-14-37-13

distance (m)

perc

ent

(%)

July 2011


doc.: IEEE 802.22-11/0078r01

Submission

Results

-10 0 10 20 30 40 50-10

0

10

20

30

40

50

2011-04-21-14-37-13.mat

Pseudo-East (m)

Pse

udo-

Nor

th (

m)


Master 2

Master 5

Master 6

Master 7Iso-Range

July 2011


doc.: IEEE 802.22-11/0078r01

Submission

UMBC Parking Garage (Example 2)

0 20 40 60 80 100 120 1400

0.5

1

1.5Amplitude 0001-0002-2011-04-29-14-16-19.mat

Scan

Am

plitu

de

0 20 40 60 80 100 120 140-0.05

0

0.05

0.1

0.15Delta Phase 0001-0002-2011-04-29-14-16-19.mat

Scan

Pha

se

0 20 40 60 80 100 120 1400

0.5

1

1.5Amplitude 0001-0006-2011-04-29-14-16-19.mat

Scan

Am

plitu

de

0 20 40 60 80 100 120 1400.02

0.04

0.06

0.08Delta Phase 0001-0006-2011-04-29-14-16-19.mat

Scan

Pha

se0 20 40 60 80 100 120 140

0

0.5

1

1.5Amplitude 0001-0007-2011-04-29-14-16-19.mat

Scan

Am

plitu

de

0 20 40 60 80 100 120 1400

0.02

0.04

0.06Delta Phase 0001-0007-2011-04-29-14-16-19.mat

Scan

Pha

se

July 2011


doc.: IEEE 802.22-11/0078r01

Submission


0 10 20 30 40 50 60 70 80 90 1000

5

10

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20

250001-0002-2011-04-29-14-16-19

distance (m)

perc

ent

(%)

0 10 20 30 40 50 60 70 80 90 1000

5

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35

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45

500001-0006-2011-04-29-14-16-19

distance (m)

perc

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(%)

0 10 20 30 40 50 60 70 80 90 1000

5

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500001-0007-2011-04-29-14-16-19

distance (m)

perc

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(%)

July 2011


doc.: IEEE 802.22-11/0078r01

Submission

Result

0 20 40 60 80 100 120

0

20

40

60

80

100

1202011-04-29-14-16-19.mat

Pseudo-East (m)

Pse

udo-

Nor

th (

m)


Master 2

Master 6

Master 7Iso-Range

July 2011


doc.: IEEE 802.22-11/0078r1

Submission

July 2011 (DRAFT)


Backup Slides

doc.: IEEE 802.22-11/0078r1

Submission

Gerald Chouinard, Russ Markvosky

Slide 41

Geolocation accuracy vs fine ranging accuracy• For a given geolocation error, the ranging error has to be smaller because

geolocation methods/ techniques can be subject to location geometry degradation.

Good Geometry

Bad Geometry

TrilaterationTriangulation

Assuming that the geometry degradation amplification is 2X (on average),the required ranging accuracy is +/- 25 meters.

• In addition, the network device electronics propagation delays (residual delay) accuracy is assumend to be +/- 30 ns. This results in +/- 10 meters ranging error

In 802.22, this residual delay needs to be measured by the manufacturer with an accuracy ofat least +/-30 ns (IEEE Std 802.22-2011, subclause 7.7.7.3.4.10.)

• Thus the required fine ranging accuracy needs to be +/- 15 meters

doc.: ieee 802.22-11/0078r01 submission july 2011 russ markhovsky, invisitrack, inc.slide 1...

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