Sensor Fusion: A Technique To Improve Location Systems E-NEXT WG1 - - PowerPoint PPT Presentation

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Sensor Fusion: A Technique To Improve Location Systems E-NEXT WG1 - - PowerPoint PPT Presentation

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Sensor Fusion: A Technique To Improve Location Systems E-NEXT WG1 TF Thomas King University of Mannheim king@informatik.uni-mannheim.de Thomas King, 05/19/2005 Sensor Fusion: A Technique To Improve Location Systems - p. 1/14 Motivation

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SLIDE 1

Thomas King, 05/19/2005 Sensor Fusion: A Technique To Improve Location Systems - p. 1/14

Sensor Fusion: A Technique To Improve Location Systems

E-NEXT WG1 TF

Thomas King

University of Mannheim king@informatik.uni-mannheim.de

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SLIDE 2

Introduction

  • Motivation
  • Outline
  • Categorization

Existing Work Sensor Fusion Conclusion Thomas King, 05/19/2005 Sensor Fusion: A Technique To Improve Location Systems - p. 2/14

Motivation

■ Various applications require location information ◆ mobile ad-hoc routing: position based routing ◆ mobile business: context-aware applications ■ various location systems are around ■ no highly accurate, easy-to-use indoor location

systems is available

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SLIDE 3

Introduction

  • Motivation
  • Outline
  • Categorization

Existing Work Sensor Fusion Conclusion Thomas King, 05/19/2005 Sensor Fusion: A Technique To Improve Location Systems - p. 2/14

Motivation

■ Various applications require location information ◆ mobile ad-hoc routing: position based routing ◆ mobile business: context-aware applications ■ various location systems are around ■ no highly accurate, easy-to-use indoor location

systems is available ⇒ we investigate sensor fusion based location systems

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SLIDE 4

Introduction

  • Motivation
  • Outline
  • Categorization

Existing Work Sensor Fusion Conclusion Thomas King, 05/19/2005 Sensor Fusion: A Technique To Improve Location Systems - p. 3/14

Outline

■ Categorization ■ Existing Work ■ Sensor Fusion ■ Conclusion

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SLIDE 5

Introduction

  • Motivation
  • Outline
  • Categorization

Existing Work Sensor Fusion Conclusion Thomas King, 05/19/2005 Sensor Fusion: A Technique To Improve Location Systems - p. 4/14

Categorization

Location Systems Use Existing Infrastructure Use Dedicated Infrastructure Televison Bluetooth Wireless LAN FM Radio Satellite Based Satellite Independent GPS Infrared Ultrasonic Rosum Sensor Fusion RADAR RightSPOT Active Badge Cricket

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SLIDE 6

Introduction Existing Work

  • Global Positioning System -

Overview

  • Global Positioning System -

Flaws

  • RADAR - Overview
  • RADAR - Database
  • RADAR - Positioning
  • Bluetooth

Sensor Fusion Conclusion Thomas King, 05/19/2005 Sensor Fusion: A Technique To Improve Location Systems - p. 5/14

Global Positioning System - Overview

■ designed for the U.S. military ■ funded and operated by the Department of

Defense

■ operational since 1995 ■ 24 satellites orbit the earth at a height of 20.000

km

■ provides an accuracy of 5-20 meters in 95 percent

  • f all cases
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SLIDE 7

Introduction Existing Work

  • Global Positioning System -

Overview

  • Global Positioning System -

Flaws

  • RADAR - Overview
  • RADAR - Database
  • RADAR - Positioning
  • Bluetooth

Sensor Fusion Conclusion Thomas King, 05/19/2005 Sensor Fusion: A Technique To Improve Location Systems - p. 6/14

Global Positioning System - Flaws

■ a line of sight to at least 4 satellites is required ■ the GPS signals are blocked by obstacles (walls,

foilage, ...)

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SLIDE 8

Introduction Existing Work

  • Global Positioning System -

Overview

  • Global Positioning System -

Flaws

  • RADAR - Overview
  • RADAR - Database
  • RADAR - Positioning
  • Bluetooth

Sensor Fusion Conclusion Thomas King, 05/19/2005 Sensor Fusion: A Technique To Improve Location Systems - p. 6/14

Global Positioning System - Flaws

■ a line of sight to at least 4 satellites is required ■ the GPS signals are blocked by obstacles (walls,

foilage, ...)

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SLIDE 9

Introduction Existing Work

  • Global Positioning System -

Overview

  • Global Positioning System -

Flaws

  • RADAR - Overview
  • RADAR - Database
  • RADAR - Positioning
  • Bluetooth

Sensor Fusion Conclusion Thomas King, 05/19/2005 Sensor Fusion: A Technique To Improve Location Systems - p. 7/14

RADAR - Overview

■ wireless LAN access points are used to determine

the position of mobile devices

■ two step approach: ◆ trainging phase: a database with signal strength

values of the operation area have to be created

◆ location phase: uses this database ■ median distance error 2.5 meters

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SLIDE 10

Introduction Existing Work

  • Global Positioning System -

Overview

  • Global Positioning System -

Flaws

  • RADAR - Overview
  • RADAR - Database
  • RADAR - Positioning
  • Bluetooth

Sensor Fusion Conclusion Thomas King, 05/19/2005 Sensor Fusion: A Technique To Improve Location Systems - p. 8/14

RADAR - Database

■ a dense grid of measurement points is required

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SLIDE 11

Introduction Existing Work

  • Global Positioning System -

Overview

  • Global Positioning System -

Flaws

  • RADAR - Overview
  • RADAR - Database
  • RADAR - Positioning
  • Bluetooth

Sensor Fusion Conclusion Thomas King, 05/19/2005 Sensor Fusion: A Technique To Improve Location Systems - p. 9/14

RADAR - Positioning

■ the mobile device measures the signal strength of

the access points in communication range

■ the mobile device compares this sample with the

values stored in the database

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SLIDE 12

Introduction Existing Work

  • Global Positioning System -

Overview

  • Global Positioning System -

Flaws

  • RADAR - Overview
  • RADAR - Database
  • RADAR - Positioning
  • Bluetooth

Sensor Fusion Conclusion Thomas King, 05/19/2005 Sensor Fusion: A Technique To Improve Location Systems - p. 10/14

Bluetooth

■ invented to replace low-bandwidth cabling e.g.

computer peripherals

■ communication range up to 10 meters ■ proximity based location determination

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SLIDE 13

Introduction Existing Work

  • Global Positioning System -

Overview

  • Global Positioning System -

Flaws

  • RADAR - Overview
  • RADAR - Database
  • RADAR - Positioning
  • Bluetooth

Sensor Fusion Conclusion Thomas King, 05/19/2005 Sensor Fusion: A Technique To Improve Location Systems - p. 10/14

Bluetooth

■ invented to replace low-bandwidth cabling e.g.

computer peripherals

■ communication range up to 10 meters ■ proximity based location determination

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SLIDE 14

Introduction Existing Work Sensor Fusion

  • Sensor Fusion - Overview
  • Sensor Fusion - Challenges
  • Generic Location System

Architecture Conclusion Thomas King, 05/19/2005 Sensor Fusion: A Technique To Improve Location Systems - p. 11/14

Sensor Fusion - Overview

■ modern mobile devices contain a multiple of

communication and sensor interfaces (e.g. Wireless LAN, Bluetooth, GSM, ...)

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SLIDE 15

Introduction Existing Work Sensor Fusion

  • Sensor Fusion - Overview
  • Sensor Fusion - Challenges
  • Generic Location System

Architecture Conclusion Thomas King, 05/19/2005 Sensor Fusion: A Technique To Improve Location Systems - p. 11/14

Sensor Fusion - Overview

■ modern mobile devices contain a multiple of

communication and sensor interfaces (e.g. Wireless LAN, Bluetooth, GSM, ...) ⇒ exploit the correlation between sensed parameters to increase the positioning accuracy and availability

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SLIDE 16

Introduction Existing Work Sensor Fusion

  • Sensor Fusion - Overview
  • Sensor Fusion - Challenges
  • Generic Location System

Architecture Conclusion Thomas King, 05/19/2005 Sensor Fusion: A Technique To Improve Location Systems - p. 11/14

Sensor Fusion - Overview

■ modern mobile devices contain a multiple of

communication and sensor interfaces (e.g. Wireless LAN, Bluetooth, GSM, ...) ⇒ exploit the correlation between sensed parameters to increase the positioning accuracy and availability

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SLIDE 17

Introduction Existing Work Sensor Fusion

  • Sensor Fusion - Overview
  • Sensor Fusion - Challenges
  • Generic Location System

Architecture Conclusion Thomas King, 05/19/2005 Sensor Fusion: A Technique To Improve Location Systems - p. 12/14

Sensor Fusion - Challenges

■ challenges: ◆ different sensor types provide different accuracy

and precision

◆ sensor data is often noisy ◆ position estimates from different sensors may

conflict with each other

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SLIDE 18

Introduction Existing Work Sensor Fusion

  • Sensor Fusion - Overview
  • Sensor Fusion - Challenges
  • Generic Location System

Architecture Conclusion Thomas King, 05/19/2005 Sensor Fusion: A Technique To Improve Location Systems - p. 13/14

Generic Location System Architecture

BluetoothSensor + getSignalStrengthVector ():Vector WirelessLANSensor + getSignalStrengthVector ():Vector KNearestNeighbor + getPosition ():Position Viterbi + getPosition ():Position << interface >> Sensor + getSignalStrengthVector ():Vector << interface >> LocationDeterminationAlgorithm + getPosition ():Position GPS + getPosition ():Position BayesianNetwork + getPosition ():Position << interface >> SensorFusion + getPosition ():Position

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SLIDE 19

Introduction Existing Work Sensor Fusion Conclusion

  • Conclusion

Thomas King, 05/19/2005 Sensor Fusion: A Technique To Improve Location Systems - p. 14/14

Conclusion

■ Categorization of location systems ■ Existing Work ◆ GPS ◆ RADAR ◆ Bluetooth ■ Sensor Fusion