An AnguLoc oc: Concu current Angle of Ar Arrival Estimation on for or Indoor oor Lo Localiz alizatio ion wit ith UW UWB Rad adio ios Milad Heydariaan , Hossein Dabirian, Omprakash Gnawali Networked Systems Laboratory, University of Houston Contact: milad@cs.uh.edu DCOSS 2020 June 2020
Wha What is s Indo ndoor Localization? n? • Finding location of people, things, and places indoors • Market size: $18.74 billion by 2025 * Tracking Navigation * https://www.reportlinker.com/p05763837/Indoor-Location-based-Services-Market-Analysis-Report-By-Product-By-Technology-By-Application-By-End-Use-And-Segment-Forecasts.html Heydariaan, Dabirian & Gnawali - University of Houston 2
Ultr Ultra-wi wideba deband nd (UWB WB) Radi dios • “GPS at the scale of your living room” [Apple Inc.] • Accurate (10 cm) Decawave DW1000 chip • Global market size of $58 million in 2019 * • At least 75 million units of iPhone 11 by the end of 2019 ** • The UWB market is expected to grow significantly • iPhone 12 • Android • UWB Alliance and FiRa Consortium NXP, Qorvo, Decawave, Bosch, Samsung, Hyundai Wireless interference will be an issue * https://www.absolutereports.com/global-ultra-wideband-market-15311454 Heydariaan, Dabirian & Gnawali - University of Houston 3 ** https://www.bloomberg.com/news/articles/2019-10-14/apple-s-lower-prices-users-aging-handsets-drive-iphone-demand
UW UWB In Inter erfer eren ence A B C Destructive interference prevents packet reception • Avoiding Interference Not Scalable • Time-division multiple access (TDMA) • ALOHA • Carrier sensing not feasible • Mitigating Interference Not Efficient • Forward Error Correction (FEC) • Retransmissions • Exploiting Interference • Concurrent Transmissions Heydariaan, Dabirian & Gnawali - University of Houston 4
Wi Wireless ss Interferenc nce vs. s. Sc Scalability a and E Effici ciency cy Exploiting Scalable and Efficient Interference Mitigating Inefficient Interference Avoiding Non-Scalable Interference Low Medium High Level of Interference Heydariaan, Dabirian & Gnawali - University of Houston 5
Se Sequential Loc Localization on - 1 … A n Initiator A 1 A 2 A 1 R e q u e s t Request Request A 2 Initiator Request … A n One Request Heydariaan, Dabirian & Gnawali - University of Houston 6
Sequential Loc Se Localization on - 2 … A n Initiator A 1 A 2 A 1 R e q u e s t Response 1 5 ms A 2 1 e s n o Initiator p s e R … A n Sequential Responses Heydariaan, Dabirian & Gnawali - University of Houston 7
Sequential Loc Se Localization on - 3 … A n Initiator A 1 A 2 A 1 R e q u e s t Response 1 5 ms A 2 Response 2 1 e s n o Initiator p s e R 5 ms … 2 e s n o A n p s e R Sequential Responses Heydariaan, Dabirian & Gnawali - University of Houston 8
Sequential Loc Se Localization on - 4 … A n Initiator A 1 A 2 A 1 R e q u e s t Response 1 5 ms A 2 Response 2 1 e s n o Initiator p s e R 5 ms … Response n 2 e s n o A n p s e R 5 ms Sequential Responses n e s n o p s e R Heydariaan, Dabirian & Gnawali - University of Houston 9
Con Concurr rrent Loc Localization on - 1 … Initiator A 1 A 2 A n A 1 R e q u e s t Request 5 ms Request A 2 Initiator Request … A n One Request Heydariaan, Dabirian & Gnawali - University of Houston 10
Concurr Con rrent Loc Localization on - 2 … Initiator A 1 A 2 A n A 1 R e q u e s t Response 1 5 ms A 2 Response 2 1 e s n o Initiator p s e 128 ns R … 128 ns 2 e s n o p s e R Response n n e s n A n o p s e R Concurrent Responses Heydariaan, Dabirian & Gnawali - University of Houston 11
Concurr Con rrent Packets in IEEE 802. 802.15. 15.4 4 UWB B PHY First Path for P 1 P 1 1 Preamble 1 SFD 1 PHR 1 Data 1 + Amplitude First Path for P 2 Preamble 2 SFD 2 PHR 2 Data 2 P 2 = P 1,2 Preamble 1 + Preamble 2 SFD 1 PHR 1 Data 1 P 1,2 = P 1 + P 2 We can observe combined preamble in We can only demodulate Data from the first arriving packet channel impulse response (CIR) Heydariaan, Dabirian & Gnawali - University of Houston 12
TX TX Scheduling Uncertainty Initiator R i • In concurrent localization protocols: ! "# = ! %# + ' "# ! %# R e q u e s t ' "# • Difference between precision of ! "# and ! %# i e ! "# s n o p s e R • Causes inaccuracy in ToA estimation • Causes up to 2.4 m of localization error in DW1000 • State-of-the-art concurrent TDoA solutions • Wired correction: deployment issues • Wireless correction: additional packets, antenna delay calibration, 1-cycle lag • Our solution ( AnguLoc ): Concurrent AoA Heydariaan, Dabirian & Gnawali - University of Houston 13
Concurr Con rrency-ba based ed Localization n Solut utions ns Feasibility Solution for Localization Related Work Accuracy Study TX Scheduling Uncertainty Method TREK1000 (Sequential) - - 0.30 m TWR 1 Concurrent ! Corbalán [EWSN’18] ~ 2 m TWR TWR Corbalán [IPSN’19] Concurrent ! ~ 1.2 m TDoA Chorus TDoA 2 Großwindhager [IPSN’19] Concurrent ~ 1.2 m Wired/Wireless Correction TDoA SnapLoc TDoA (without correction) 5 ! ! Heydariaan [DCOSS’19] ~ 2 m TWR Heydariaan [DCOSS’20] Concurrent Immune Against TX 0.67 m ADoA 4 AnguLoc AoA 3 Scheduling Uncertainty 1 TWR: Two-Way Ranging 3 AoA: Angle of Arrival 2 TDoA: Time Difference of Arrival 4 ADoA: Angle Difference of Arrival 5 Authors said they achieved better results with wired/wireless corrections Heydariaan, Dabirian & Gnawali - University of Houston 14
Con Concurr rrent An Angle of of Arri Arrival Loc Localization on – Ch Challenges and Opport ortunities • Opportunities • Concurrent AoA is more accurate than concurrent TDoA Concurrent AoA is not affected by TX scheduling uncertainty • Self-localization is highly scalable An unlimited number of tags • Challenges θ 1 θ • Front-back ambiguity of angle measurements -θ • Unknown tag tilting θ 1 θ 2 Heydariaan, Dabirian & Gnawali - University of Houston 15 θ 2
Con Contri ribution ons • Feasibility of concurrent AoA • Angle difference of arrival algorithm overcomes • Front-back ambiguity of angle measurements • Unknown tag tilting • Increasing accuracy of concurrency-based localization Heydariaan, Dabirian & Gnawali - University of Houston 16
An Angle of Ar Arrival Using Phase Difference of Ar Arrival Transmitter ! = # sin ' ( = 2* + θ p , = 2* ( ! = + - ! d ' = sin ./ ,( 2*# Receiver Receiver A B We calculate , by calculating phase for first path in CIR Xtal Angle of Arrival with two receivers running Heydariaan, Dabirian & Gnawali - University of Houston 17 on the same crystal oscillator (Xtal).
An Angle of Ar Arrival Hardware Decawave PDoA node (DWM1002) Heydariaan, Dabirian & Gnawali - University of Houston 18
Con Concurr rrent An Angle of of Arri Arrival First Responder • AoA is ! = sin &' () First Path *+, • - is the wavelength • . is the distance between Second Responder antennas First Path • / is the difference in phase between two antennas calculated at each responder’s first path We can calculate phase information by detecting first path of each responder Heydariaan, Dabirian & Gnawali - University of Houston 19
Con Concurr rrent Se Self-Loc Localization on P Prot otoc ocol ol A 1 A 2 T 1 T 4 T 2 A REF T 3 T 5 T 6 A 4 A 3 Heydariaan, Dabirian & Gnawali - University of Houston 20
Con Concurr rrent Se Self-Loc Localization on P Prot otoc ocol ol 1. A REF broadcasts SYNC A 1 A 2 T 1 T 4 T 2 A REF T 3 T 5 T 6 A 4 A 3 Heydariaan, Dabirian & Gnawali - University of Houston 21
Concurr Con rrent Se Self-Loc Localization on P Prot otoc ocol ol 1. A REF broadcasts SYNC 2. A i ’s reply concurrently A 1 A 2 T 1 T 4 T 2 A REF T 3 T 5 T 6 A 4 A 3 Heydariaan, Dabirian & Gnawali - University of Houston 22
Concurr Con rrent Se Self-Loc Localization on P Prot otoc ocol ol 1. A REF broadcasts SYNC 2. A i ’s reply concurrently A 1 A 2 T 1 T 4 T 2 A REF T 3 T 5 T 6 A 4 A 3 Heydariaan, Dabirian & Gnawali - University of Houston 23
Concurr Con rrent Se Self-Loc Localization on P Prot otoc ocol ol 1. A REF broadcasts SYNC 2. A i ’s reply concurrently A 1 A 2 T 1 T 4 T 2 A REF T 3 T 5 T 6 A 4 A 3 Heydariaan, Dabirian & Gnawali - University of Houston 24
Concurr Con rrent Se Self-Loc Localization on P Prot otoc ocol ol 1. A REF broadcasts SYNC 2. A i ’s reply concurrently A 1 A 2 T 1 T 4 T 2 A REF T 3 T 5 T 6 A 4 A 3 Heydariaan, Dabirian & Gnawali - University of Houston 25
Concurr Con rrent Se Self-Loc Localization on P Prot otoc ocol ol 1. A REF broadcasts SYNC 2. A i ’s reply concurrently 3. Tags (T 1 through T 6 ) receive all replies and measure AoA A 1 A 2 concurrently T 1 T 4 T 2 A REF T 3 T 5 T 6 A 4 A 3 Heydariaan, Dabirian & Gnawali - University of Houston 26
Ev Evaluation of Concurrent Ao AoA Results Sequential AoA Experimental == Setup ? Concurrent AoA Results • Sequential AoA as baseline • Ideally should have similar accuracy Heydariaan, Dabirian & Gnawali - University of Houston 27
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