Precision Indoor Personnel Location and Tracking for Emergency Responses

Technology Workshop, Aug 7-8, 2006

CWINS

Multipath and Robust Precise Indoor Geolocation

Kaveh Pahlavan
August 8, 2006 KP/CWINS

Lessons from the past

In the second half of the 1990s DARPA started the SUO/SAS project for Urban and Indoor location aware networking, VC funded a few start up companies such as PinPoint, and indoor geolocation research started.

In 2000 indoor WiFi localization

Commercial: Newbury Networks and Ekahau Commercial: IEEE 802.15.3 ARL: SBIR won by MSSI and IWT

In 2003 UWB localization for WPANs In 2004 localization for sensor networks In 2005 outdoor localization with GPS alternatives
Commerce: WiFi positioning in outdoor areas (Skyhook) Military: Signals of opportunity for disaster recovery (DARPA, Rosum)

Source: DARPA web site

August 8, 2006

KP/CWINS

CWINS experiences
Urban Geolocation System Analysis and Demonstrator with TASC/Litton (DARPA SUO/SAS) -1997
Measurement campaign in multiple buildings at 60, 90, 500 and 1000MHz Observation of large errors caused by undetected direct path conditions

Wireless Indoor Geolocation and Vo-IP-v6 with University of Oulu, Finland (Nokia, Sonera, TEKES, Finland) 1999
TOA localization using HIPERLAN-2 OFDM WLAN signals Developed a framework for modeling the distance measurement error for traditional algorithms Discovered the effectiveness of the super-resolution algorithms for TOA estimation

Indoor Geolocation Science for 4G Wireless Networks (NSF) 2001

Innovative Methods for Geolocation and Communication with UWB Mobile Radio Networks, with IWT (ARL SBIR) - 2004
UWB measurements and modeling for indoor geolocation in different buildings Performance evaluation of traditional algorithms using these models

Innovative Indoor Geolocation Using RF Multipath Diversity with Draper Laboratory 2005
Robust navigation in the absence of direct path Channel modeling for dynamic behavior of channel

In addition, CWINS has had continual interactions with PinPoint, InTrak, Ekahau, PanGo and Skyhook August 8, 2006 KP/CWINS

RF Propagation Measurements for SUO/SAS

1

0 .9

0 .9

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0 0 50 1 00 1 50 2 00 2 50 3 00 3 50

0 0 50 1 00 1 50 2 00 2 50 3 00 3 50

Fc = 1 GHz / BW = 200 MHz Peak value = -59.9 dB

Fc = 500 MHz / BW = 200 MHz Peak value = -59.0 dB

0 .9

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0 0 50 1 00 1 50 2 00 2 50 3 00 3 50

0 0 50 1 00 1 50 2 00 2 50 3 00 3 50

Fc = 90 MHz / BW = 100 MHz Peak value = -34.5 dB

Fc = 60 MHz / BW = 50 MHz Peak value = -31.3 dB

August 8, 2006

J. Beneat, K. Pahlavan, and P. Krishnamurthy, "Radio Channel Characterization for Geolocation at 1 GHZ, 500MHZ, 90 MHZ, and 60 MHZ In SUO/SAS", MILCOM99, Atlantic City, NJ, November 1999

KP/CWINS

Super Resolution Techniques for TOA Estimation

Pseudospectrum Received signal Estimation of channel frequency response

H( f )
Super-resolution algorithm
noi: 14

S ( )
Detection of TOA
1 160 40 IFT DSSS MUSIC

Estimate of TOA

A sample result:
Normalized time-domain response

0.8

0.6

0.4

Note: IFT: uses Hanning window DSSS: uses raised cosine pulses

0.2

100

200

300 delay (ns)

400

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600

August 8, 2006

X. Li and K. Pahlavan, Super-resolution TOA estimation with diversity for indoor geolocation, IEEE Trans on Wireless Comm. Dec. 2003 X. Li, Super-resolution TOA Estimation with Diversity for Indoor Geolocation, PhD Dissertation, CWINS, WPI, 2003 N. Alsindi, X. Li, K. Pahlavan, Analysis of TOA estimation using wideband measurements of indoor radio propagations,KP/CWINS accepted for publication in IEEE Transactions on Instrumentation and Measurement, 2006.

Two Sources of Error

The first path is not detectable by measurement system - Undetected Direct Path (UDP) [Pah98] Measurement bandwidth is not wide enough to distinguish the first few paths from each other [Ala03]

Limitations on Bandwidth

Undetected Direct Path

August 8, 2006

[Pah98] K. Pahlavan, P. Krishnamurthy and J. Beneat, Wideband Radio Propagation Modeling for Indoor Geolocation Applications, IEEE Communications Magazine, April 1998. [Ala03] B. Alavi and K. Pahlavan, Bandwidth Effect on Distance Error Modeling for Indoor Geolocation, 14th Annual IEEE International Symposium on Personal Indoor and Mobile Radio Communications (PIMRC03), Beijing, China, September 7-10, 2003.

KP/CWINS

UWB Measurements for IWT/ARL

x 10
-5

.\W PI\AK1F\tA2\rE\re6_m1.s1p, (40.7ns, -106.6dB)

x 10 9 8 7 6

-5

.\WPI\AK1F\tA2\rE\re6_m1.s1p, (45.8ns, -85.1dB)

2.5

40.5ns 55.3ns, -92.8dB

40.5ns 51.1ns, -82.2dB

2 Amplitude

1.5

Amplitude

45.8ns, -85.1dB
5 4 3

0.5

40.7ns, -106.6dB

2 1

0
x 10
-6

20

40

60

80

100 120 time (ns)

140

160

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200

0
x 10

20
-5

.\W PI\AK3F\tA0\rC\rc7_m1.s1p, (99.6ns, -112.4dB)

2.5

100 120 140 160 180 time (ns) .\W PI\AK3F\tA0\rC\rc7_m1.s1p, (92.7ns, -104.7dB)

40

60

80

200

79.2ns
5

79.2ns

155.1ns, -106.1dB

123.6ns, -93.7dB

4 Amplitude
Amplitude 1.5

Vector Network Analyzer

LNA

99.6ns, -112.4dB
2

0.5

92.7ns, -104.7dB

50

100

150 time (ns)

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150 time (ns)

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Bandwidth = 3GHz
August 8, 2006

Bandwidth = 500MHz
KP/CWINS

B. Alavi, N. Alsindi, K. Pahlavan, UWB Channel Measurements for Accurate Indoor Localization, Military Communications Conference Proceedings, MILCOM 2006, Washington, DC, 23-25 October 2006.

Distance Measurement Error Modeling

Scatter Plots of Distance Error for Different Bandwidths (OLOS)

Bandwidth = 50 MHz

Bandwidth = 100 MHz

Bandwidth = 500 MHz

UDP Cases (bandwidth independent)

Total 638 OLOS Points
Bardia Alavi and Kaveh Pahlavan, Modeling of the TOA based Distance Measurement Error Using UWB Indoor Radio Measurements IEEE Communications Letters, April 2006.

August 8, 2006

Bardia Alavi, Distance Measurement Error Modeling for Time-of-Arrival Based Indoor Geolocation, PhD Dissertation, CWINS, WPI, April 2006.

KP/CWINS

Performance Evaluation Laboratories

Elements of an RF laboratory
Channel simulators or a defined route Interface to products Isolated environment

Examples
Testbed using a defined path Ekahau localization testbed using Elektrobit channel simulator Azimuth isolated testbed

August 8, 2006

KP/CWINS

Example: Comparisons Using a Specific Route

AP2
User

B1 B2 AP1 AP3

50 m
A. Hatami, and Kaveh Pahlavan, " Comparative statistical analysis of indoor positioning using empirical data and indoor radio channel models," Consumer communications and networking conference, 2006

August 8, 2006

KP/CWINS

30 m

TOA vs RSS
Indoor Position Using Least Square TOA (B.W.= 500 MHz) 40 Track of Movement L.S. TOA Estimation AP locations AP3

Indoor Position Using Maximum Likelihood RSS (B.W.= 25 MHz) 40 Track of Movement Max. Like. RSS Estimation AP locations

35

35

AP3

30 AP1 25

30 AP1 25

Y [m]

20

Y [m]
AP2

20

15

15

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AP2

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30 X [m]

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WiFi vs UWB

Localization RMS Error (UDP)

Localization RMS Error (DDP)

20 CN-TOAG 15
Error[m]

LS TOA Stat. RSS RT-CN

Error[m]

10 5 0 25 MHz 500 MHz Receiver Bandwidth

14 12 10 8 6 4 2 0 25 MHz 500 MHz Receiver Bandwidth

CN-TOAG LS TOA Stat. RSS RT-CN

August 8, 2006

KP/CWINS

Real-Time Channel Simulator

Active channel simulator Provides simulation of up to 8 unidirectional channels Simulates multipath behavior using a tapped delay line Can be utilized for a wide range of wireless devices (e.g. cellular, WLAN, sensors, RFIDs, etc.) Frequency specifications:
Bandwidth of 70 MHz Frequency range from 350MHz to 6 GHz
(Elektrobit PROPSim C8)

August 8, 2006

Purchased with DoD grant

KP/CWINS

Example: Testbed for Ekahau Deployment

Ray tracing and Display Access points Server and EKAHAU software

PROPSim channel simulator

M. Heidari and K. Pahlavan, Performance Evaluation of Indoor Geolocation Systems Using PROPSim Hardware and Ray Tracing Software, IWWAN04, Oulu, Finland, May 2004.

August 8, 2006

KP/CWINS

Deployment Analysis

August 8, 2006

KP/CWINS

Performance Results

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KP/CWINS

RF Isolated Environment
Cabled WLAN test solution Provides high levels of isolation from the surrounding environment Allows for repeatability Full automation and remote access capability Various test setups possible including range, roaming, and VoIP

(Azimuth Systems 801W)

August 8, 2006

Purchased with NSF grant

KP/CWINS

Example: Testbed for WiFi Coverage

L.T. Metreaud and K. Pahlavan, "RF Isolated Real-Time Multipath Testbed for Performance Analysis of WLANs," presented at the 40th Annual Conference on Information Sciences and Systems, Princeton, NJ, 2006.

August 8, 2006

KP/CWINS

Testbed Equipment for Coverage

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KP/CWINS

Sample RSSI of WiFi

Average RSSI vs. Linear Distance
-40 0 -50 500 1000 1500 2000 2500 3000 3500 4000

-60 RSSI [dBm]

-70

-80

-90

-100 Linear Distance [m]

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KP/CWINS

Conclusions
Multipath poses a serious challenge to design of robust indoor geolocation systems There are a number of candid technologies, we need testbeds to compare their performances Channel measurement and modeling is essential for understanding of the behavior of the channel to implement meaningful testbeds for performance evaluation

August 8, 2006

KP/CWINS

For details of our projects and publications see:

www.cwins.wpi.edu

August 8, 2006

KP/CWINS