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Indoor Positioning

Indoor Positioning. Kalid Azad Advisor: Prof. Littman (MAE dept) Co-advisor: Prof. Cook Cs398 Project Proposal. Problem Description . What is indoor positioning? Find your location accurately indoors (like GPS) Why is it important? Unsolved problem

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Indoor Positioning

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  1. Indoor Positioning Kalid Azad Advisor: Prof. Littman (MAE dept) Co-advisor: Prof. Cook Cs398 Project Proposal

  2. Problem Description • What is indoor positioning? • Find your location accurately indoors (like GPS) • Why is it important? • Unsolved problem • Indoor robots, underground surveying, detailed maps/directions…

  3. Why is it hard? • GPS doesn’t work indoors! No line of sight… • No obvious alternative • Previous approaches: Psuedo-GPS, IR signal strength, RF, ultrasonic/acoustic… • Indoor radio propagation not well studied • Reflection, absorption from obstacles • Walls/windows/doors have different delays • Cost! No $100,000 atomic clocks allowed. • Light travels ~ 1 ft/ns • Hard to measure propagation delays w/o good clocks • Resolution • Want ~ 1 ft resolution (not room-level granularity)

  4. Approaches • My approach: use phase differences • Multiple transmitters send sine waves • Receiver notes relative phase differences • Calculates how many wavelengths away from transmitter • Receiver solves for its position • Or, transmit data to central server, which calculates position and sends it back (via wireless network)

  5. My Approach T2 T1 1 wavelength = Possible location

  6. My Approach • Advantages • No atomic clock/synchronization, works on RF, good resolution, phase easy to detect • Done before? • On google, only found 1 paper describing use of phase differences • Not done in hardware

  7. Methodology, milestones, and deliverables • Steps • Extensive survey of current technology • Create a method • Develop algorithm, order hardware • Develop software • Proof-of-principle • Web-based, GUI • Implement in hardware

  8. Methodology, milestones, and deliverables • By checkpoint (~1 month) • Thoroughly examined existing technology • Created algorithm • Ordered hardware • Begin coding software • Deliverables • Report • Detailed description of algorithm • Hardware Requirements • Portion of software implementing algorithm

  9. Methodology, milestones, and deliverables • Remaining steps for semester • Implement algorithm in hardware • If possible, use on a vehicle • Deliverables by end of semester • Detailed algorithm • Software implementation • Hardware implementation

  10. Methodology, milestones, and deliverables • Difficulties • A good algorithm is… • Cost-effective, precise, easy to implement, without atomic clocks/synchronization, robust… • Getting hardware to work properly • No specialized hardware for my algorithm • Method may not be as precise as planned

  11. Methodology, milestones, and deliverables • Fall-back plan • Explain what I found with my algorithm • Benefits, drawbacks, tradeoffs • Measure position with the precision I can • Find limitations, sources of errors, effect of various obstacles (walls, doors, windows) • If it doesn’t work… • Document what doesn’t work, and why • Lesson for others =)

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