Mautz Estonia08 Presentation

3rd BALTIC-SWISS GEODETIC SCIENCE WEEK, Sept.
10-12, 2008, Tallinn
Overview of Current Indoor Positioning Systems

Dr. Rainer Mautz
ETH Zrich Institute of Geodesy and Photogrammetry
Engineering Geodesy - Prof. Dr. H. Ingensand
ETH Zurich
Positioning Requirements
Overview of Systems
GNSS
Alternative Positioning Systems
Conclusions & Outlook
Contents
1. Positioning Requirements
2. Overview of Systems 3. GNSS 4. Alternative Positioning Systems 5. Conclusions & Outlook
ETH Zurich
Overview of Systems
GNSS
User Requirements:
availability: timeliness: 100% of the time realtime dynamic all environments:
reliability:
hybrid systems:
no failures
to be avoided indoors: household, office & factory
local installations: none accuracy: coverage: mm - cm global
outdoors:
urban & rural
ETH Zurich
Overview of Systems
GNSS
Classification of Positioning Systems:

Signal wavelength (Radio Frequencies, Light Waves, Ultrasound, RFID, Terahertz) Principle (trilateration, triangulation, signal strength)
Environment (indoor, outdoor, urban, rural, remote)

Active / passive sensors Accuracy (m km) Application (industry, surveying, navigation)
ETH Zurich
Overview of Systems
GNSS
Range
Outdoor Indoor
1m
10 m
100 m
1 km
10 km
10 m 100 m 1 mm
1 cm
1 dm
1m
10 m
100 m Accuracy
graphic: Rainer Mautz
ETH Zurich
Overview of Systems
GNSS
Range
Outdoor Indoor
1m
10 m
100 m
1 km
10 km
10 m 100 m 1 mm
1 cm
1 dm
1m
10 m
100 m Accuracy
ETH Zurich
Overview of Systems
GNSS
Range Outdoor Indoor
1m
10 m
100 m
1 km
10 km
10 m 100 m 1 mm
1 cm
1 dm
1m
10 m
100 m
Accuracy
ETH Zurich
Overview of Systems
GNSS
Range
10 km
Most Geodetic Applications
Outdoor Indoor
1m
10 m
100 m
1 km
10 m 100 m 1 mm
1 cm
1 dm
1m
10 m
100 m Accuracy
ETH Zurich
Overview of Systems
GNSS
GNSS Performance:
System Principle TOA, lateration, differential technique RealAccuracy Outdoo Indoor time r () Coverage Range Signal Data Frequency Rate Market Cost
Geodetic GNSS
mm
global
RF
20 Hz
yes
moderate to high
limitations: in addition: strong attenuation fading: reflections, diffraction, scattering no general model
no direct line-ofsight:
obstacles multipath
ETH Zurich
Overview of Systems
GNSS
Number of satellites in space

GPS GLONASS (United States) (Russia) Galileo (EU) Beidou, i.e. Compass (China)
Current number Future number Full operational capability Today: 2013:
31 MEO 30 MEO 1995
16 MEO 24 MEO 2011
1 MEO 30 MEO 2013

gain
1 MEO, 4 GEO 27 MEO, 5 GEO ca. 2010
10 satellites (open sky) 40 satellites (open sky)

number of satellites
Implications on indoor environments ? marginal Other improvements: integrity, anti-jam power, security, clocks!
ETH Zurich
Overview of Systems
GNSS
Attenuation of various building materials (L1 = 1500 MHz)

Material
Glass Wood
[dB]
1-4 2-9 5 - 31
Factor [-]
0.8 0.4 0.6 0.1 0.3 0.001
Indoors:
Roofing Tiles / Bricks 100 times weaker
Concrete
Ferro-Concrete
12 - 43
29 - 43
underground: 0.06 0.00005

0.001 0.00005
(1997) 10000 times Stone weaker
Signal Strength in Decibel Watt of GNSS Satellites

Environment Satellite Outdoors Indoors Underground [dBW] +14 signal strength delivered from satellite -155 unaided fixes OK for standard receivers -176 decode limit for high sensitive receivers -191 decode limit for aided, ultra-high sensitive receivers
ETH Zurich
Overview of Systems
GNSS
How to overcome attenuation?
Increase receiver sensibility Increase satellite signal power Use ultra wideband GNSS signals
Assisted GNSS (AGNSS, AGPS)

ephemeris, almanac via mobile phone (+) hot start, quicker position fix (-) long acquisition times indoors (-) high power needs for high sensitivity (-) accuracy degrades to m-level indoors
graphic from: www.semsons.com
ETH Zurich
Overview of Systems
GNSS

Locata: Terrestrial pseudolite transceivers
Picture from Barnes et al. (2003) 6thIinternational Symposium on Satellite Navigation Technology , Melbourne, Australia
ETH Zurich
Overview of Systems
GNSS
Locata Key Parameters:

System Principle TOA, lateration Outdoo RealIndoor Accuracy r time Range Signal Data Frequency Rate RF 1 Hz Market in progress Cost
Locata
2 mm static 2 - 3 km 1 cm RTK,
high
(+) RTK: 1 2 cm deviations at 2.4 m/s (+) signal magnitude stronger than GNSS (+) indoors dm
Problem: multipath (low elevation)
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
ETH Zurich
Overview of Systems
GNSS
iGPS
iGPS transmitter and sensor during a test in a tunnel
ETH Zurich
Overview of Systems
GNSS
iGPS laser resection

Principle Outdoor Indoor RealAccuracy time 0.1 0.2 mm Range Signal Data Frequency Rate Market Cost
TOA angular measurements
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
ETH Zurich
Overview of Systems
GNSS
Localisation using direction of arrival

Principle Outdoor Indoor RealAccuracy time Range Signal Data Frequency Rate Market Cost
TOA, Triangulation
2 angle
100 m
RF
in progress
low
Key design: mobile units are transmitters min. 3 receiving units with 4 patch antennas each accuracy currently 2 angular degrees position determination with trilateration
graphic from Fraunhofer Institute
ETH Zurich
Overview of Systems
GNSS
Ultrasound Systems Crickets, Active Bat, Dolphin

System Cricket Active Bat DOLPHIN Principle TOA, lateration TOA, lateration TOA, lateration Outdoo RealIndoor Accuracy r time 1 2 cm 1 5 cm 2 cm Range 10 m Signal Data Frequency Rate ultrasound 1 Hz Market develop ment no no Cost low moderate moderate
1000 m2 ultrasound 75 Hz room scale ultrasound 20 Hz
Picture: Cambridge University
ETH Zurich
Overview of Systems
GNSS
Ultrasound Systems Crickets, Active Bat, Dolphin

System Cricket Active Bat DOLPHIN Principle TOA, lateration TOA, lateration TOA, lateration Outdoo RealIndoor Accuracy r time 1 2 cm 1 5 cm 2 cm Range 10 m Signal Data Frequency Rate ultrasound 1 Hz Market develop ment no no Cost low moderate moderate
1000 m2 ultrasound 75 Hz room scale ultrasound 20 Hz
Problems:
dependency on temperature maximal range deployment of reference beacons multipath reliability interference with other sound sources
ETH Zurich
Overview of Systems
GNSS
Positioning based on Signal Strength

System
Sonitor RFID
Principle
RSSI, Cell ID
Outdoo RealIndoor Accuracy r time m-level dm-m
Range
15 m 20 m
Signal Data Frequency Rate ultrasound 0.3 Hz
Market
yes no
Cost
low low
Signal Strength
RF, 866 MHz
All signals can be used: WLAN, Ultrasound, RF, GPRS, etc. Problems: reliability accuracy
Picture from: USC Robotics Research Lab
ETH Zurich
Overview of Systems
GNSS
Conclusions
Outdoors: GNSS dominating system for open-sky Indoors: No overall solution yet Several indoor systems on the market low accuracy sophisticated setups limited coverage area inadequate costs
Outlook
signals will penetrate buildings use existing infrastructure for higher accuracy are local installations unavoidable
Project: Building own indoor positioning system!
ETH Zurich
End
ETH Zurich

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3rd BALTIC-SWISS GEODETIC SCIENCE WEEK, Sept.

10-12, 2008, Tallinn

Overview of Current Indoor Positioning Systems

Engineering Geodesy - Prof. Dr. H. Ingensand

Alternative Positioning Systems

Conclusions & Outlook

Engineering Geodesy - Prof. Dr. H. Ingensand

Alternative Positioning Systems

Conclusions & Outlook

local installations: none accuracy: coverage: mm - cm global

urban & rural

Engineering Geodesy - Prof. Dr. H. Ingensand

Alternative Positioning Systems

Conclusions & Outlook

Classification of Positioning Systems:

Environment (indoor, outdoor, urban, rural, remote)

Engineering Geodesy - Prof. Dr. H. Ingensand

Alternative Positioning Systems

Conclusions & Outlook

Engineering Geodesy - Prof. Dr. H. Ingensand

Alternative Positioning Systems

Conclusions & Outlook

graphic: Rainer Mautz

Engineering Geodesy - Prof. Dr. H. Ingensand

Alternative Positioning Systems

Conclusions & Outlook

Range Outdoor Indoor

graphic: Rainer Mautz

Engineering Geodesy - Prof. Dr. H. Ingensand

Alternative Positioning Systems

Conclusions & Outlook

Most Geodetic Applications

graphic: Rainer Mautz

Engineering Geodesy - Prof. Dr. H. Ingensand

Alternative Positioning Systems

Conclusions & Outlook

Engineering Geodesy - Prof. Dr. H. Ingensand

Alternative Positioning Systems

Conclusions & Outlook

Number of satellites in space

Current number Future number Full operational capability Today: 2013:

31 MEO 30 MEO 1995

16 MEO 24 MEO 2011

1 MEO 30 MEO 2013

1 MEO, 4 GEO 27 MEO, 5 GEO ca. 2010

10 satellites (open sky) 40 satellites (open sky)

Engineering Geodesy - Prof. Dr. H. Ingensand

Alternative Positioning Systems

Conclusions & Outlook

Attenuation of various building materials (L1 = 1500 MHz)

Roofing Tiles / Bricks 100 times weaker

underground: 0.06 0.00005

Signal Strength in Decibel Watt of GNSS Satellites

Engineering Geodesy - Prof. Dr. H. Ingensand

Alternative Positioning Systems

Conclusions & Outlook

How to overcome attenuation?

Assisted GNSS (AGNSS, AGPS)

graphic from: www.semsons.com

Engineering Geodesy - Prof. Dr. H. Ingensand

Alternative Positioning Systems

Conclusions & Outlook

Alternative Positioning Systems

Engineering Geodesy - Prof. Dr. H. Ingensand