Adaptive GPS Duty Cycling with Radio Ranging for Energy-Efficient - - PowerPoint PPT Presentation

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Adaptive GPS Duty Cycling with Radio Ranging for Energy-Efficient - - PowerPoint PPT Presentation

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Adaptive GPS Duty Cycling with Radio Ranging for Energy-Efficient Localization CSIRO ICT Centre Raja Jurdak Queensland University of Technology Peter Corke INSA Lyon Dhinesh Dharman Guillaume Salagnac Wednesday, 24 November 2010 Motivation

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SLIDE 1

Adaptive GPS Duty Cycling with Radio Ranging for Energy-Efficient Localization

Raja Jurdak Peter Corke Dhinesh Dharman Guillaume Salagnac CSIRO ICT Centre Queensland University of Technology INSA Lyon

Wednesday, 24 November 2010

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SLIDE 2

Motivation

Wednesday, 24 November 2010

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SLIDE 3

Motivation

Wednesday, 24 November 2010

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SLIDE 4

Motivation

  • Localization systems need

absolute position references

  • GPS

Wednesday, 24 November 2010

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SLIDE 5

Motivation

  • Localization systems need

absolute position references

  • GPS
  • GPS is energy-expensive

Wednesday, 24 November 2010

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SLIDE 6

Motivation

  • Localization systems need

absolute position references

  • GPS
  • GPS is energy-expensive
  • Key ideas of this work
  • Duty cycle GPS
  • Complement with energy-

inexpensive signals

  • Radio beacons
  • Accelerometers
  • Magnetometers

Wednesday, 24 November 2010

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SLIDE 7

Motivation

  • Localization systems need

absolute position references

  • GPS
  • GPS is energy-expensive
  • Key ideas of this work
  • Duty cycle GPS
  • Complement with energy-

inexpensive signals

  • Radio beacons
  • Accelerometers
  • Magnetometers

Wednesday, 24 November 2010

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SLIDE 8
  • Domain problems:
  • Herd behaviour
  • Grazing patterns
  • Social interaction

Cattle sensor networks

GPS + RF antennas

Wednesday, 24 November 2010

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SLIDE 9

Virtual Fencing: Environmental protection

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SLIDE 10

Virtual Fencing: Environmental protection

Wednesday, 24 November 2010

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SLIDE 11

Design Considerations

GPS lock times loosely depend on off time

Wednesday, 24 November 2010

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SLIDE 12

Design Considerations

Cows are slow! GPS lock times loosely depend on off time

Wednesday, 24 November 2010

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SLIDE 13

GPS Duty Cycling

  • 1. GPS acquires lock

GPS chip uncertainty

X

X Assumed position Real position Uncertainty

Wednesday, 24 November 2010

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SLIDE 14

GPS Duty Cycling

  • 1. GPS acquires lock

GPS chip uncertainty

X

X Assumed position Real position Uncertainty

AAU

Wednesday, 24 November 2010

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SLIDE 15

GPS Duty Cycling

  • 2. GPS powered off

X

X Assumed position Real position Uncertainty

AAU

Wednesday, 24 November 2010

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SLIDE 16

GPS Duty Cycling

X

X Assumed position Real position Uncertainty

  • 4. GPS turns on prior to

reaching AAU

AAU

Wednesday, 24 November 2010

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SLIDE 17

GPS Duty Cycling

X

X Assumed position Real position Uncertainty

  • 5. Node acquires GPS

lock again

AAU

Wednesday, 24 November 2010

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SLIDE 18

GPS Duty Cycling

Success: real position within uncertainty bound at next GPS lock

X

X Assumed position Real position Uncertainty

AAU

Wednesday, 24 November 2010

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SLIDE 19

GPS Duty Cycling

Error: If real position

  • utside uncertainty

region at next GPS lock

X

X Assumed position Real position Uncertainty

AAU

Wednesday, 24 November 2010

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SLIDE 20

GPS Duty Cycling Strategy

AAU: absolute acceptable uncertainty Ugps: GPS chip uncertainty s: assumed speed tL: lock time

Wednesday, 24 November 2010

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SLIDE 21

GPS Duty Cycling Strategy

Varying the AAU according to the cow’s distance from the fence

AAU: absolute acceptable uncertainty Ugps: GPS chip uncertainty s: assumed speed tL: lock time

Wednesday, 24 November 2010

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SLIDE 22

GPS Duty Cycling Strategy

Varying the AAU according to the cow’s distance from the fence Speed models

AAU: absolute acceptable uncertainty Ugps: GPS chip uncertainty s: assumed speed tL: lock time

Wednesday, 24 November 2010

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SLIDE 23

Static AAU

  • Simulations based on 2-day empirical cow position dataset
  • 30 cows, 1-second granularity for GPS positions

GPS Duty Cycling Performance

Wednesday, 24 November 2010

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SLIDE 24

Static AAU

  • Simulations based on 2-day empirical cow position dataset
  • 30 cows, 1-second granularity for GPS positions

GPS Duty Cycling Performance

Dynamic AAU

Wednesday, 24 November 2010

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SLIDE 25

Exploiting Radio Proximity Data

Wednesday, 24 November 2010

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SLIDE 26

Exploiting Radio Proximity Data

Cows naturally herd closely together

Wednesday, 24 November 2010

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SLIDE 27

Exploiting Radio Proximity Data

Cows naturally herd closely together

GPS duty cycling vs GPS DC and contact logging

Combining GPS duty cycling with short range radio beaconing

Wednesday, 24 November 2010

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SLIDE 28

A Visual Simulator

Wednesday, 24 November 2010

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SLIDE 29

A Visual Simulator

Wednesday, 24 November 2010

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SLIDE 30

A Visual Simulator

Wednesday, 24 November 2010

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SLIDE 31

Contact Radius

  • Static or dynamic?

Wednesday, 24 November 2010

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SLIDE 32

Contact Radius

  • Static or dynamic?

Use RSSI for bounding contact distance

Wednesday, 24 November 2010

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SLIDE 33

Contact Radius

  • Static or dynamic?

Use RSSI for bounding contact distance Effect of contact radius on energy and error rate

Wednesday, 24 November 2010

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SLIDE 34

Beacon Period

  • Static or dynamic?

Wednesday, 24 November 2010

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SLIDE 35

Beacon Period

  • Static or dynamic?

Send radio beacons only when local uncertainty drops

Wednesday, 24 November 2010

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SLIDE 36

Beacon Period

  • Static or dynamic?

Send radio beacons only when local uncertainty drops Effect of beacon scheduling on energy and error rate

Wednesday, 24 November 2010

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SLIDE 37

Summary of results

Event-driven with 5m contact radius provides best balance for our application

Wednesday, 24 November 2010

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SLIDE 38

Adaptive Duty Cycling

  • Define error rate and energy targets
  • Nodes keep track of their error rate and energy
  • If error rate is high OR node has reserve energy, increase speed

estimate

  • If error rate is low, decrease speed estimate
  • User preference to break ties

Wednesday, 24 November 2010

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SLIDE 39

Adaptive Duty Cycling

  • Define error rate and energy targets
  • Nodes keep track of their error rate and energy
  • If error rate is high OR node has reserve energy, increase speed

estimate

  • If error rate is low, decrease speed estimate
  • User preference to break ties

User favors accuracy

Wednesday, 24 November 2010

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SLIDE 40

Adaptive Duty Cycling

  • Define error rate and energy targets
  • Nodes keep track of their error rate and energy
  • If error rate is high OR node has reserve energy, increase speed

estimate

  • If error rate is low, decrease speed estimate
  • User preference to break ties

User favors accuracy User favors energy

Wednesday, 24 November 2010

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SLIDE 41

Conclusion

  • Strategy for energy efficient localization
  • GPS duty cycling
  • Contact logging
  • Use dynamic configuration
  • Dynamic AAU (depending on application)
  • Dynamic speed
  • Event-driven beacons
  • RSSI-based range bounding
  • Future work
  • Estimating error rates with sparse sampling
  • Using inertial sensors as motion triggers
  • Leveraging group and mobility models
  • Exploring multi-hop contact logging

Wednesday, 24 November 2010

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SLIDE 42

Thank you

CSIRO ICT Centre Raja Jurdak Principal Research Scientist Phone: +61 (0)7 3327 4059 Email: raja.jurdak@csiro.au

Wednesday, 24 November 2010