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Combination of Indoor and Outdoor Positioning

Combination of Indoor and Outdoor Positioning. Dr. Rainer Mautz ETH Zürich Institute of Geodesy and Photogrammetry. June 24-26, 2008 ETH Zurich. Positioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook.

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Combination of Indoor and Outdoor Positioning

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  1. Combination of Indoor and Outdoor Positioning Dr. Rainer Mautz ETH Zürich Institute of Geodesy and Photogrammetry June 24-26, 2008 ETH Zurich

  2. Positioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook June 24-26, 2008 ETH Zurich ContentsPositioning Requirements Overview of SystemsGNSSAlternative Positioning SystemsConclusions & Outlook

  3. Positioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook dynamic all environments: indoors: household, office & factory outdoors: urban & rural June 24-26, 2008 ETH Zurich User Requirements: availability: 100% of the time timeliness: realtime reliability: no failures hybrid systems: to be avoided local installations: none accuracy: mm - cm coverage: global

  4. Positioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook June 24-26, 2008 ETH Zurich • 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 (μm – km) • Application (industry, surveying, navigation)

  5. Positioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook Range 1 m 10 m 100 m 1 km 10 km Indoor Outdoor Accuracy 10 μm 100 μm 1 mm 1 cm 1 dm 1 m 10 m 100 m June 24-26, 2008 ETH Zurich graphic: Rainer Mautz

  6. Positioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook Range 1 m 10 m 100 m 1 km 10 km Indoor Outdoor June 24-26, 2008 ETH Zurich graphic: Rainer Mautz Accuracy 10 μm 100 μm 1 mm 1 cm 1 dm 1 m 10 m 100 m

  7. Positioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook Range 1 m 10 m 100 m 1 km 10 km Indoor Outdoor June 24-26, 2008 ETH Zurich graphic: Rainer Mautz Accuracy 10 μm 100 μm 1 mm 1 cm 1 dm 1 m 10 m 100 m

  8. Positioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook Range 1 m 10 m 100 m 1 km 10 km Indoor Outdoor June 24-26, 2008 ETH Zurich graphic: Rainer Mautz Accuracy 10 μm 100 μm 1 mm 1 cm 1 dm 1 m 10 m 100 m

  9. Positioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook limitations: • in addition: • strong attenuation • fading: reflections, diffraction, scattering • no general model • no direct line-of-sight: • obstacles • multipath June 24-26, 2008 ETH Zurich GNSS – Performance:

  10. Positioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook gain number of satellites June 24-26, 2008 ETH Zurich Number of satellites in space Today: 10 satellites (open sky) 2013: 40 satellites (open sky) Implications on indoor environments ? marginal Other improvements: integrity, anti-jam power, security, clocks!

  11. Positioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook Indoors: 100 times weaker underground: 10000 times weaker June 24-26, 2008 ETH Zurich Attenuation of various building materials (L1 = 1500 MHz) Stone (1997) Signal Strength in Decibel Watt of GNSS Satellites

  12. Positioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook 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 June 24-26, 2008 ETH Zurich How to overcome attenuation? • Increase receiver sensibility • Increase satellite signal power • Use ultra wideband GNSS signals graphic from: www.semsons.com

  13. Positioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook June 24-26, 2008 ETH Zurich Alternative Positioning Systems Locata: Terrestrial pseudolite transceivers Picture from Barnes et al. (2003) 6thIinternational Symposium on Satellite Navigation Technology , Melbourne, Australia

  14. Positioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook June 24-26, 2008 ETH Zurich Locata – Key Parameters: (+) 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

  15. Positioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook June 24-26, 2008 ETH Zurich iGPS iGPS transmitter and sensor during a test in a tunnel

  16. Positioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook June 24-26, 2008 ETH Zurich iGPS – “laser resection” • 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

  17. Positioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook Picture: Cambridge University June 24-26, 2008 ETH Zurich Ultrasound Systems – Crickets, Active Bat, Dolphin

  18. Positioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook June 24-26, 2008 ETH Zurich Ultrasound Systems – Crickets, Active Bat, Dolphin • Problems: • dependency on temperature • maximal range • deployment of reference beacons • multipath • reliability • interference with other sound sources

  19. Positioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook June 24-26, 2008 ETH Zurich Positioning based on Signal Strength • All signals can be used: • WLAN, Ultrasound, RF, GPRS, etc. • Problems: • reliability • accuracy Picture from: USC Robotics Research Lab

  20. Positioning Requirements Overview of Systems GNSS Alternative Positioning Systems Conclusions & Outlook June 24-26, 2008 ETH Zurich Conclusions Outdoors: GNSS dominating system for open-skyIndoors: No overall solution yetSeveral indoor systems on the market- low accuracy- sophisticated set ups- limited coverage area- inadequate costsOutlook signals will penetrate buildingsuse existing infrastructurehigher accuracy local installations unavoidable

  21. June 24-26, 2008 ETH Zurich End

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