1. Electrical and Computer Engineering Department
Roy G. Perry College of Engineering, Prairie View A&M University,
Prairie View, TX
By
Dr. Warsame H. Ali
DYNAMIC MOVEMENT OF REFERENCE NODES,
FOR IMPROVED TRACKING ACCURACY OF
INDOOR SITUATIONAL AWARENESS SYSTEMS
DYNAMIC MOVEMENT OF REFERENCE NODES,
FOR IMPROVED TRACKING ACCURACY OF
INDOOR SITUATIONAL AWARENESS SYSTEMS
07/22/15 ICGST 2012 Presented July 17
2. OUTLINEOUTLINE
Problem Statement
Overview
Scope
Background
Proposed research
Result Analysis
Conclusion
Future work
07/22/15 ICGST 2012 Presented July 17
3. PROBLEM STATEMENTPROBLEM STATEMENT
• Design a Position, Location and Tracking(PL&T) algorithm based on
dynamic references for Indoor Situational Awareness System
07/22/15 ICGST 2012 Presented July 17
4. 07/22/15 ICGST 2012 Presented July 17
• GPS have been traditionally used for Position, Location and Tracking
(PL&T) but In several cases, GPS tends to be inaccurate in indoor
situations.
• It also tends to be inaccurate near buildings(accuracies of 20 meters)
• A self-configuring network, Mobile Ad hoc Network (MANET) is used
for robust prediction and tracking in indoor situational awareness
systems (ISM).
• Researchers have looked into the implementation of MANET using
various schemes. A common scheme is triangulation.
5. 07/22/15 ICGST 2012 Presented July 17
• Indoor PL&T algorithm using dynamic references
6. This project is a follow up on two previous work done in Prairie View
A&M University.
The senior design team at Prairie View A&M University was
saddled with the task of designing a PL&T algorithm. They came
up with the “Panther Tracker”, that uses autonomous time and
speed movement to estimate the range of a robot from its previous
position
A dissertation by “Niraj “on Antennas, Dynamic PL&T and the
security of the system
07/22/15 ICGST 2012 Presented July 17
7. • In estimating the distance of a node
from its neighbor, the node can use the
time of flight, attenuation of signal
strength or directionality of a signal
emanating from its neighbor.
LOCATION ESTIMATION TECHNIQUESLOCATION ESTIMATION TECHNIQUES
• Traditional methods of Estimation are
triangulation, scene analyses and proximity
• Triangulation remains the most commonly used
method with the other methods used mainly to
improve its accuracy.
• Triangulation relies on the geometric properties
of triangles to estimate the location of a target
node
• Lateration triangulation-distance measurements
• Angulation triangulation-angle measurements in
combination
R2
R1
R3
θ
d
β
MS
BS BS
Lateration
Angulation
07/22/15 ICGST 2012 Presented July 17
8. • Difficult to implement
• Due to accuracy limitations
stemming from lack of stable clock
and random delays from contention
method in IEEE 802.11 wireless
LAN, this design method was
stopped for demonstration.
TOD/TOA APPROACHTOD/TOA APPROACH
• Di is computed using TOD and
TOA roundtrip measurement
• For each triangle, two ranges are
computed for each Di and take the
average to get D1, D2, D3.
• With known Di and reference (x, y),
• The coordinate of the target(T) can
be calculated using each triangle.
• For close values of (x, y), take the
average of the three (x, y)s
• For two close value and one off-
valued result, take the average of
the close results
• For three off-value results, repeat
measurement.
07/22/15 ICGST 2012 Presented July 17
9. DIRECTIONAL ANTENNADIRECTIONAL ANTENNA
• Realized by using the beamforming
technology together with an antenna
array
• Transmit beamforming-when
implemented at Tx only
• Receive beamforming-when
implemented at Rx only
• Joint transmit and receive
beamforming-when implemented at Tx
& Rx
θ
z
x
y
07/22/15 ICGST 2012 Presented July 17
10. • Directional antennas have a longer transmission range
• reducing delay and increase in connection throughput
• Directional antenna also possess larger free channel space
around the transmitting node and allows more concurrent
transmission without collisions
• A two element directional antenna was found to consume
approximately 7% of the power of the omnidirectional
antenna while a four-element antenna comes just 1%.
• Used in Cellular networks such as GSM and infrastructure
WLAN
WHY USE DIRECTIONAL
ANTENNA ?
WHY USE DIRECTIONAL
ANTENNA ?
07/22/15 ICGST 2012 Presented July 17
11. MULTIPATH FADED CHANNELMULTIPATH FADED CHANNEL
• Occur when plane waves arriving at the
MS/BS from the MS/BSs with random
phases and combine vectorially at the
receiver
• Multipath-fading results in rapid
variations in the envelope of the
received signal at the MS/BS
Multipath causes difference in propagation
lengths which results in amplitude and
phase fluctuations and time delay in the
received signal
Rayleigh fading occurs when the
multiple reflective paths are large in
number and there is no LOS signal
component
When Multipath-fading has a dominant
LOS, it can be modeled by the Rician
distribution
the envelope of the received
signal is described statistically as
Rayleigh distribution.
07/22/15 ICGST 2012 Presented July 17
12. 07/22/15 ICGST 2012 Presented July 17
•Allow mobile Targets equipped with directional antennas to move
freely indoors
•Dynamic references are placed outdoors in order to maintain good
geometry(≥30 angle at each vertex of the triangle) for tracking the⁰
targets.
•Determine the ranges between references and each target.
•Translate ranges into (X,Y) Coordinates of a target.
•Demonstrate the performance analytically and compare with the
senior design implementation.
14. FLOW MODEL FOR DYNAMIC
MOVEMENT OF REFERENCES
FLOW MODEL FOR DYNAMIC
MOVEMENT OF REFERENCES
07/22/15 ICGST 2012 Presented July 17
15. α
µ
θ
β
DYNAMIC NODES WITH DIRECTED BEAMDYNAMIC NODES WITH DIRECTED BEAM
07/22/15 ICGST 2012 Presented July 17
16. LATERATION WITH MOBILE NODESLATERATION WITH MOBILE NODES
The system is then solved using the least square approch
Lateration equation
07/22/15 ICGST 2012 Presented July 17
22. • Future work will be the development of a 3 dimensional
algorithm for PL&T in an indoor situational awareness
system.
• Another part of the proposal will be nodal
authentications.
FUTURE WORKFUTURE WORK
CONCLUSIONCONCLUSION
• Dynamic movement of reference nodes improves the
accuracy of PL&T estimation
• Considerable improvement over the Autonomous time
and speed movement to estimate the range of the robot
from its previous position used by the senior design
group
• Offers error as low as 0.24 percent in a noiseless system.
This error increases when with introduction of noise
into the system
• Unbounded AOA, error has ben proven to be as high as
7.46 percent
07/22/15 ICGST 2012 Presented July 17
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REFERENCESREFERENCES
07/22/15 ICGST 2012 Presented July 17
