ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
The Challenges of Indoor Environments and The Challenges of Indoor Environments and Specification on some Alternative Specification on some Alternative
Positioning SystemsPositioning Systems
Rainer Mautz
ETH ZürichInstitute of Geodesy and Photogrammetry
6th Workshop on Positioning, Navigation and Communication (WPNC'09), 19.3.2009
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & OutlookOverview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook
ContentsContents
1. Overview of Systems1. Overview of Systems
2. GNSS2. GNSS
3. Alternative Positioning Systems3. Alternative Positioning Systems- Locata- Locata- iGPS- iGPS- Ultrasound- Ultrasound- CLIPS- CLIPS
4. Conclusions & Outlook4. Conclusions & Outlook
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
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Classification of Positioning Systems
Further classification by:
Signal wavelength (Radio Frequencies, Light Waves, Ultrasound, RFID, Terahertz)
Principle (trilateration, triangulation, signal strength)
Active / passive sensors
Application (industry, surveying, navigation)
Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & OutlookOverview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
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Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & OutlookOverview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
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Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & OutlookOverview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
GNSS – Performance:
System Principle
CoverageReal-time
Accuracy RangeData Rate
Market CostOutdoor Indoor
Geodetic GNSS
TOA, lateration, differential technique
() mm global 20 Hz yesmoderate
to high
in addition:
strong attenuation fading: reflections, diffraction, scattering no general model
no direct line-of-sight:
obstacles
multipath
limitations:
Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & OutlookOverview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
Material [dB] Factor [-]
Glass 1 - 4 0.8 – 0.4
Wood 2 - 9 0.6 – 0.1
Roofing Tiles / Bricks 5 - 31 0.3 – 0.001
Concrete 12 - 43 0.06 – 0.00005
Ferro-Concrete 29 - 43 0.001 – 0.00005
Attenuation of various building materials (L1 = 1500 MHz)
Stone (1997)
Signal Strength in Decibel Watt of GNSS Satellites
Environment [dBW]
Satellite +14 signal strength delivered from satellite
Outdoors -155 unaided fixes OK for standard receivers
Indoors -176 decode limit for high sensitive receivers
Underground -191 decode limit for aided, ultra-high sensitive receivers
Indoors:
100 times weakerunderground:
10000 times weaker
How to overcome attenuation? Increase receiver sensibility Increase satellite signal power Ultra wideband GNSS signals Assisted GNSS
Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & OutlookOverview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
Terrestrial pseudolite transceivers, Locata Corporation in CanberraAugmentation for GNSS in urban canyons, pit mines, buildings
Alternative Positioning Systems - Locata
Picture from Jonas BERTSCH: On-the-fly Ambiguity Resolution for the Locata Positioning System, Master Thesis, ETH Zurich, February 2009.
Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & OutlookOverview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
System Principle Outdoor IndoorReal-time
Accuracy RangeSignal
FrequencyData Rate
Market Cost
LocataTOA,
lateration
2 mm static 1 cm
RTK,2 - 3 km RF 1 Hz
in progress
high
Locata – Key Parameters:
(+) RTK: 1 – 2 cm deviations at 2.4 m/s(+) signal magnitude stronger than GNSS(+) indoors dm Challanges:
multipath (low elevation)
Synchronisation < 30 pico-seconds Picture from J. Barnes, C. Rizos, M. Kanli, A. Pahwa „A Positioning Technology for Classically
Difficult GNSS Environments from Locata“, IEEE Conference, San Diego California, 26 April 2006
Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & OutlookOverview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
iGPS – “laser resection”
PrincipleOutdoo
r Indoo
rReal-time
Accuracy RangeSignal
FrequencyData Rate
Market Cost
TOA angular measurements
0.1 – 0.2 mm
2 - 50 m RF 40 Hz in progress high
Key design:
two or more fixed transmitters rotating fan-shaped laser beams infrared signal various sensors detect arrival times position determination with spatial forward intersection
graphic from Metris
Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & OutlookOverview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
iGPS
iGPS transmitter and sensor during a test in a tunnel
Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & OutlookOverview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
iGPS
Application of iGPS in a tunnel.
Master Thesis, ETH Zurich by DAVID ULRICH: Innovative Positionierungs-systeme im Untertagebau, July 2008
Results
Strengths:- High accuracy (0.1 mm) confirmed- Real-time, 40 Hz confirmed
Problems:- Multipath- Influence of light sources
Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & OutlookOverview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
Ultrasound Systems – Crickets, Active Bat, Dolphin
System Principle Outdoor IndoorReal-time
Accuracy RangeSignal
FrequencyData Rate
Market Cost
CricketTOA,
lateration 1 – 2 cm 10 m ultrasound 1 Hz
development
low
Active BatTOA,
lateration 1 – 5 cm 1000 m2 ultrasound 75 Hz no moderate
DOLPHINTOA,
lateration 2 cm
room scale
ultrasound 20 Hz no moderate
Method:
TOA, TDOA (ultrasound & RF) Multilateration
Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & OutlookOverview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
Problems:
dependency on temperature maximal range deployment of reference beacons multipath reliability interference with other sound sources
Ultrasound Systems – Crickets
Ceiling
Floor
Beacon Listener
Student Project: Robot Positioning
Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & OutlookOverview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
Optical Positioning Systems: ProCam System (AICON)
Mobile probe with CCD camera. Spatial resection of measuring head.
relies on coded reference targets. (illuminated by an infrared flash)
System Principle Outdoor IndoorReal-time
Accuracy RangeSignal
FrequencyData Rate Market Cost
ProCam optical 0.1 mm any room infrared 90 points / h yes high
Pictures from: http://www.aicon.de
Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & OutlookOverview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
Optical Positioning Systems: CLIPS (Camera and Laser Indoor Positioning System)
Production of laser “hedgehog”
Principle Outdoor IndoorReal-time
Accuracy RangeSignal
FrequencyData Rate
Market Cost
Image Based mm-level 15 m visible light 30 Hz no low
Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & OutlookOverview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
CLIPS
Principle:
P5
P4
P1
P2
Laser Pointer Hedgehog
(fixed)
basevector
P3
Camera(mobile)
Object
Probe(optional)
Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & OutlookOverview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
CLIPS
Difficulties in detection of laser spots
Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & OutlookOverview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
Conclusions Outdoors: GNSS dominating system for open-skyOutdoors: GNSS dominating system for open-skyIndoors: Indoors: No overall solution yet No overall solution yet
Several indoor systems on the marketSeveral indoor systems on the market low accuracy low accuracy sophisticated setups sophisticated setups limited coverage area limited coverage area inadequate costs inadequate costs
Outlook signals will penetrate buildings signals will penetrate buildings use existing infrastructure use existing infrastructure for higher accuracy are local installations unavoidable for higher accuracy are local installations unavoidable
Project CLIPS: Building own indoor positioning system!Project CLIPS: Building own indoor positioning system!
Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & OutlookOverview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook
ETH ZurichEngineering Geodesy - Prof. Dr. H. Ingensand
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