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doc.: IEEE 802.22-11/0078r01
Submission
July 2011
Russ Markhovsky, InvisiTrack, Inc.Slide 1
Precision Geolocation in Challenging Environments
Name Company Address Phone email Russ Markovsky InvisiTrack, Inc. (410) 991-8529 [email protected]
Upkar Dhaliwal InvisiTrack, Inc (858) 926-5839 [email protected]
Authors:
AbstractThis tutorial is for the IEEE 802 Plenary session on July 2011 in San Francisco The presentation describes how location techniques can improve the proposed geo-location range and accuracy for determining location in challenging environments.
Notice: This Document has been prepared to assist the IEEE P802.22. It is offered as a basis for discussion and is not binding on the contributing individual(s) or organization(s). The material in this document is subject to change in form and content after further study. The contributor(s) reserve(s) the right to add, amend or withdraw material contained herein.
Release:The contributor acknowledges and accepts that this contribution becomes the property of IEEE and may be made publicly available by P802.22.
doc.: IEEE 802.22-11/0078r1
Submission
July 2011
Russ Markhovsky, InvisiTrack, Inc.Slide 2
Possible Use Cases
doc.: IEEE 802.22-11/0078r1
Submission
Rural Geo-Location
July 2011
Russ Markhovsky, InvisiTrack, Inc.Slide 3
30 km
Backhaul
BS
CPE
CPE
CPE
doc.: IEEE 802.22-11/0078r1
Submission
Outdoor Geo-Location
July 2011
Russ Markhovsky, InvisiTrack, Inc.Slide 4
Geo-Locate over long distances
Needs either multiple Base Stations …
or a Base Station and a number of reference CPEs for which the latitude and longitude are known
doc.: IEEE 802.22-11/0078r1
Submission
Urban Corridor and Indoor Geo-Location
July 2011
Russ Markhovsky, InvisiTrack, Inc.Slide 5
Geo-Locate over shorter distances
Needs to operate in harsh multipath environment
Either a terminal (nomadic CPE) or base station/ fixed CPE originates the ranging signal
doc.: IEEE 802.22-11/0078r1
Submission
Multiple Use Cases
PUBLIC SAFETY/MILITARY
Locate/Track Personnel
Search & RescueMonitor Military Campaigns
SALES & MARKETING
Social NetworkingLocation-aware Advertising
Social Gaming
LBS / ASSET TRACKING
Warehouses Equipment & Supplies
Disaster Recovery
Russ Markhovsky, InvisiTrack, Inc.6
July 2011
doc.: IEEE 802.22-11/0078r01
Submission
Integrated (Hybrid Positioning Enhancement)
400 meters
7 Russ Markhovsky, InvisiTrack, Inc.
GPS A-GPS Cell-ID ISM BANDS
3 meters 50 meters 300 meters 100 meters 6 meters
July 2011
TVWS BANDS
doc.: IEEE 802.22-11/0078r01
Submission
Defining Core Problem
July 2011
Russ Markhovsky, InvisiTrack, Inc.Slide 8
doc.: IEEE 802.22-11/0078r01
Submission
Signal Propagation - Background
• Signal penetration in dielectric– Loss varies as square root of wavelength
• Lower frequencies penetrate better than higher• Example: with the same loss, 240 MHz penetrates 3.2 times further
than 2.4 GHz or, at same distance, loss at 2.4 GHz is 10 dB greater.
– Dispersion (multipath): inversely proportional to wavelength• Objects smaller than the wavelength don’t reflect;• Objects larger than the wavelength, reflect and generate multipath
dispersion.
July 2011
Russ Markhovsky, InvisiTrack, Inc.Slide 9
doc.: IEEE 802.22-11/0078r01
Submission
White Spaces Superior Platform for Location
The lower the frequency, the greater the ability to penetrate buildings and thereby improve location positioning accuracy and reliability.
512 MHz
900 MHz
2.4 GHz
5.6 GHz (UWB)
Obstacle: Metal Beam
FrequencySpectrum
High
Low
10 Russ Markhovsky, InvisiTrack, Inc.
July 2011
Ideal forTerrestrial Geolocation
Ideal forTerrestrial Geolocation
doc.: IEEE 802.22-11/0078r01
Submission
Proposed Solutions
July 2011
Russ Markhovsky, InvisiTrack, Inc.Slide 11
doc.: IEEE 802.22-11/0078r1
Submission
July 2011
Russ Markhovsky, InvisiTrack, Inc.Slide 12
• With the required +/- 15 m ranging accuracy, once impact of SNR and other imperfections are taken into account, there is little room left for the actual ranging errors that are associated with ranging in a dense multipath environment in buildings/ urban corridors where multipath echoes are closely spaced
• Multipath Mitigation
• Real-time ranging signal (terrestrial positioning signal) processing algorithm (method) that mitigates multipath and delivers high accuracy using < 6 MHz of bandwidth
How do you deal with complex environment location?
doc.: IEEE 802.22-11/0078r01
Submission
Multipath Mitigation
July 2011
Russ Markhovsky, InvisiTrack, Inc.Slide 13
doc.: IEEE 802.22-11/0078r01
Submission
Multipath Mitigation Overview
• Can be easily incorporated into OFDM based wireless networks,– Employs existing wireless network signals
• Reference and/ or pilot signals, etc.
– No changes to HW and OS
• Developed for indoor and challenging outdoor environments– Dense multipath environment
• Low computational intensity multipath mitigation algorithms– Can be executed in software by a mobile terminal
• Developed for fixed and mobile environment– Allows simultaneous tracking of hundreds terminals
July 2011
Russ Markhovsky, InvisiTrack, Inc.Slide 14
doc.: IEEE 802.22-11/0078r01
Submission
• Geolocation ranging signal is < 6 MHz BW(i.e., does not require channel bonding).
• The ranging signal consists of:– Pilot signals or subcarrier signals; or – A combination of pilots and subcarriers;
• The ranging signal subcarriers do not need to be modulated; the modulation may also be applied, for example QPSK, as long as the modulation signal is known beforehand.
Solution IntegrationJuly 2011
Russ Markhovsky, InvisiTrack, Inc.Slide 15
doc.: IEEE 802.22-11/0078r01
Submission
Multipath Mitigation Processor
• Maps time delay to phase offset – resulting in observables sums of complex sinusoids;
• Uses optimized high-resolution spectrum estimation analysis methods and techniques; – Algorithms designed to separate direct path for
Accurate range estimation• Methods and techniques support frequency
estimations (delays) that approach the Cramer-Rao Bound (CRB).
July 2011
Russ Markhovsky, InvisiTrack, Inc.Slide 16
doc.: IEEE 802.22-11/0078r01
Submission
Solution Integration • Can be seamlessly integrated into the current 802.22 geolocation model – uses
complex channel impulse response in the frequency domain
Current 802.22 Geo-location model
1p 2p
2m
Noise
2p
21
Signal
New option for 802.22 Geo-location model
Multipath Processor
July 2011
Russ Markhovsky, InvisiTrack, Inc.Slide 17
doc.: IEEE 802.22-11/0078r01
Submission
Ranging Modes
July 2011
Russ Markhovsky, InvisiTrack, Inc.Slide 18
doc.: IEEE 802.22-11/0078r01
Submission
One-way and Two-way mode ranging
doc.: IEEE 802.22-11/0078r01
Submission
Test Results
July 2011
Russ Markhovsky, InvisiTrack, Inc.Slide 20
doc.: IEEE 802.22-11/0078r01
Submission
Geo-location Results• Developed portable, battery-operated proof of concept:
– Dimensions: 3x4x2 inches
– Operating frequencies: VHF (High-band)
– Operating bandwidth: 5 MHz
• In all tests TX and RX antennas heights were between 0.5 meter to 1.5 meters from the ground .
July 2011
Russ Markhovsky, InvisiTrack, Inc.Slide 21
doc.: IEEE 802.22-11/0078r01
Submission
Environment Range (m) Accuracy (m), >=67%
confidence
Accuracy (m), >=95%
confidence
Comments
Coaxial cables 500 (equiv) N/A 0.5 With multipath simulator
Analog Proof of Concept Devices Outdoor 350 2 3 Suburban setting
Difficult Indoor 125 4 8 Multiple floor buildings
Extreme, Indoor parking 125 4 8
Reinforced Concrete structure
July 2011
Russ Markhovsky, InvisiTrack, Inc.Slide 22
Geolocation Results
doc.: IEEE 802.22-11/0078r01
Submission
UMBC Field
0 20 40 60 80 100 120 1400.2
0.4
0.6
0.8
1Amplitude 0001-0004-2011-02-28-10-10-44.mat
Scan
Am
plitu
de
0 20 40 60 80 100 120 1400
0.05
0.1
0.15
0.2Delta Phase 0001-0004-2011-02-28-10-10-44.mat
Scan
Pha
se
0 20 40 60 80 100 120 1400.4
0.6
0.8
1Amplitude 0002-0004-2011-02-28-10-10-44.mat
Scan
Am
plitu
de
0 20 40 60 80 100 120 1400
0.05
0.1
0.15
0.2Delta Phase 0002-0004-2011-02-28-10-10-44.mat
Scan
Pha
se
0 20 40 60 80 100 120 1400.4
0.5
0.6
0.7
0.8Amplitude 0003-0004-2011-02-28-10-10-44.mat
Scan
Am
plitu
de
0 20 40 60 80 100 120 1400
0.1
0.2
0.3
0.4Delta Phase 0003-0004-2011-02-28-10-10-44.mat
Scan
Pha
se
July 2011
Russ Markhovsky, InvisiTrack, Inc.Slide 23
Amplitude Estimate
Phase Estimate
doc.: IEEE 802.22-11/0078r01
Submission
Conversion to Distance
0 10 20 30 40 50 60 70 80 90 1000
5
10
15
20
25
30
35
40
45
500001-0004-2011-02-28-10-10-44
distance (m)
perc
ent
(%)
0 10 20 30 40 50 60 70 80 90 1000
10
20
30
40
50
60
700002-0004-2011-02-28-10-10-44
distance (m)
perc
ent
(%)
0 10 20 30 40 50 60 70 80 90 1000
10
20
30
40
50
60
700003-0004-2011-02-28-10-10-44
distance (m)
perc
ent
(%)
July 2011
Russ Markhovsky, InvisiTrack, Inc.Slide 24
doc.: IEEE 802.22-11/0078r01
Submission
UMBC Field
-80 -60 -40 -20 0 20 40
-80
-60
-40
-20
0
20
40
2011-02-28-10-10-44.mat
Pseudo-East (m)
Pse
udo-
Nor
th (
m)
Target 4Error Ellipse
Master 1
Master 2
Master 3Iso-Range
July 2011
Russ Markhovsky, InvisiTrack, Inc.Slide 25
doc.: IEEE 802.22-11/0078r01
Submission
UMBC Engineering
0 20 40 60 80 100 120 1400
0.5
1
1.5Amplitude 0001-0005-2011-04-21-15-18-09.mat
Scan
Am
plitu
de
0 20 40 60 80 100 120 1400.02
0.03
0.04
0.05Delta Phase 0001-0005-2011-04-21-15-18-09.mat
Scan
Pha
se
0 20 40 60 80 100 120 1400
0.5
1
1.5Amplitude 0002-0005-2011-04-21-15-18-09.mat
Scan
Am
plitu
de
0 20 40 60 80 100 120 1400.04
0.05
0.06
0.07
0.08Delta Phase 0002-0005-2011-04-21-15-18-09.mat
Scan
Pha
se
0 20 40 60 80 100 120 1400
0.5
1
1.5Amplitude 0006-0005-2011-04-21-15-18-09.mat
Scan
Am
plitu
de
0 20 40 60 80 100 120 1400.01
0.02
0.03
0.04Delta Phase 0006-0005-2011-04-21-15-18-09.mat
Scan
Pha
se
0 20 40 60 80 100 120 1400.2
0.4
0.6
0.8
1Amplitude 0007-0005-2011-04-21-15-18-09.mat
Scan
Am
plitu
de
0 20 40 60 80 100 120 140-0.1
0
0.1
0.2
0.3Delta Phase 0007-0005-2011-04-21-15-18-09.mat
Scan
Pha
se
July 2011
Russ Markhovsky, InvisiTrack, Inc.Slide 26
doc.: IEEE 802.22-11/0078r01
Submission
Conversion to Distance
0 10 20 30 40 50 60 70 80 90 1000
5
10
15
20
250001-0005-2011-04-21-15-18-09
distance (m)
perc
ent
(%)
0 10 20 30 40 50 60 70 80 90 1000
5
10
15
20
25
30
35
400002-0005-2011-04-21-15-18-09
distance (m)
perc
ent
(%)
0 10 20 30 40 50 60 70 80 90 1000
10
20
30
40
50
60
700006-0005-2011-04-21-15-18-09
distance (m)
perc
ent
(%)
0 10 20 30 40 50 60 70 80 90 1000
10
20
30
40
50
600007-0005-2011-04-21-15-18-09
distance (m)
perc
ent
(%)
July 2011
Russ Markhovsky, InvisiTrack, Inc.Slide 27
doc.: IEEE 802.22-11/0078r01
Submission
Result
0 10 20 30 40 50
0
10
20
30
40
50
2011-04-21-15-18-09.mat
Pseudo-East (m)
Pse
udo-
Nor
th (
m)
Master 1
Master 2Master 6
Master 7
July 2011
Russ Markhovsky, InvisiTrack, Inc.Slide 28
doc.: IEEE 802.22-11/0078r01
Submission
Additional Test Results
July 2011
Russ Markhovsky, InvisiTrack, Inc.Slide 29
doc.: IEEE 802.22-11/0078r01
Submission
UMBC Parking Garage
0 20 40 60 80 100 120 1400
0.5
1
1.5Amplitude 0001-0005-2011-04-29-13-51-03.mat
Scan
Am
plitu
de
0 20 40 60 80 100 120 140-1
-0.5
0
0.5Delta Phase 0001-0005-2011-04-29-13-51-03.mat
Scan
Pha
se
0 20 40 60 80 100 120 1400
0.5
1
1.5Amplitude 0001-0006-2011-04-29-13-51-03.mat
Scan
Am
plitu
de
0 20 40 60 80 100 120 140-0.4
-0.2
0
0.2
0.4Delta Phase 0001-0006-2011-04-29-13-51-03.mat
Scan
Pha
se
0 20 40 60 80 100 120 1400
0.5
1
1.5Amplitude 0001-0007-2011-04-29-13-51-03.mat
Scan
Am
plitu
de
0 20 40 60 80 100 120 140-2
-1
0
1Delta Phase 0001-0007-2011-04-29-13-51-03.mat
Scan
Pha
se
July 2011
Russ Markhovsky, InvisiTrack, Inc.Slide 30
doc.: IEEE 802.22-11/0078r01
Submission
Conversion To Distance
0 10 20 30 40 50 60 70 80 90 1000
5
10
15
20
25
300001-0007-2011-04-29-13-51-03
distance (m)
perc
ent
(%)
0 10 20 30 40 50 60 70 80 90 1000
5
10
15
20
25
30
350001-0005-2011-04-29-13-51-03
distance (m)
perc
ent
(%)
0 10 20 30 40 50 60 70 80 90 1000
5
10
15
20
25
30
350001-0006-2011-04-29-13-51-03
distance (m)
perc
ent
(%)
July 2011
Russ Markhovsky, InvisiTrack, Inc.Slide 31
doc.: IEEE 802.22-11/0078r01
Submission
Result
0 20 40 60 80 100 120
0
20
40
60
80
100
1202011-04-29-13-51-03.mat
Pseudo-East (m)
Pse
udo-
Nor
th (
m)
Target 1Error Ellipse
Master 5
Master 6
Master 7Iso-Range
July 2011
Russ Markhovsky, InvisiTrack, Inc.Slide 32
doc.: IEEE 802.22-11/0078r01
Submission
UMBC Commons
July 2011
Russ Markhovsky, InvisiTrack, Inc.Slide 33
doc.: IEEE 802.22-11/0078r01
Submission
UMBC Engineering (Example 2)
0 20 40 60 80 100 120 1400
0.5
1
1.5Amplitude 0001-0002-2011-04-21-14-37-13.mat
Scan
Am
plitu
de
0 20 40 60 80 100 120 140-0.4
-0.2
0
0.2
0.4Delta Phase 0001-0002-2011-04-21-14-37-13.mat
Scan
Pha
se
0 20 40 60 80 100 120 1400
0.5
1
1.5Amplitude 0001-0005-2011-04-21-14-37-13.mat
Scan
Am
plitu
de
0 20 40 60 80 100 120 1400.01
0.02
0.03
0.04
0.05Delta Phase 0001-0005-2011-04-21-14-37-13.mat
Scan
Pha
se0 20 40 60 80 100 120 140
0
0.5
1
1.5Amplitude 0001-0006-2011-04-21-14-37-13.mat
Scan
Am
plitu
de
0 20 40 60 80 100 120 140-0.05
0
0.05
0.1
0.15Delta Phase 0001-0006-2011-04-21-14-37-13.mat
Scan
Pha
se
0 20 40 60 80 100 120 1400
0.5
1
1.5Amplitude 0001-0007-2011-04-21-14-37-13.mat
Scan
Am
plitu
de
0 20 40 60 80 100 120 140-1
-0.5
0
0.5
1Delta Phase 0001-0007-2011-04-21-14-37-13.mat
Scan
Pha
se
July 2011
Russ Markhovsky, InvisiTrack, Inc.Slide 34
doc.: IEEE 802.22-11/0078r01
Submission
Conversion to Distance
0 10 20 30 40 50 60 70 80 90 1000
5
10
15
20
25
30
350001-0002-2011-04-21-14-37-13
distance (m)
perc
ent
(%)
0 10 20 30 40 50 60 70 80 90 1000
5
10
15
20
25
300001-0005-2011-04-21-14-37-13
distance (m)
perc
ent
(%)
0 10 20 30 40 50 60 70 80 90 1000
5
10
15
20
25
30
350001-0006-2011-04-21-14-37-13
distance (m)
perc
ent
(%)
0 10 20 30 40 50 60 70 80 90 1000
5
10
15
20
25
300001-0007-2011-04-21-14-37-13
distance (m)
perc
ent
(%)
July 2011
Russ Markhovsky, InvisiTrack, Inc.Slide 35
doc.: IEEE 802.22-11/0078r01
Submission
Results
-10 0 10 20 30 40 50-10
0
10
20
30
40
50
2011-04-21-14-37-13.mat
Pseudo-East (m)
Pse
udo-
Nor
th (
m)
Target 1Error Ellipse
Master 2
Master 5
Master 6
Master 7Iso-Range
July 2011
Russ Markhovsky, InvisiTrack, Inc.Slide 36
doc.: IEEE 802.22-11/0078r01
Submission
UMBC Parking Garage (Example 2)
0 20 40 60 80 100 120 1400
0.5
1
1.5Amplitude 0001-0002-2011-04-29-14-16-19.mat
Scan
Am
plitu
de
0 20 40 60 80 100 120 140-0.05
0
0.05
0.1
0.15Delta Phase 0001-0002-2011-04-29-14-16-19.mat
Scan
Pha
se
0 20 40 60 80 100 120 1400
0.5
1
1.5Amplitude 0001-0006-2011-04-29-14-16-19.mat
Scan
Am
plitu
de
0 20 40 60 80 100 120 1400.02
0.04
0.06
0.08Delta Phase 0001-0006-2011-04-29-14-16-19.mat
Scan
Pha
se0 20 40 60 80 100 120 140
0
0.5
1
1.5Amplitude 0001-0007-2011-04-29-14-16-19.mat
Scan
Am
plitu
de
0 20 40 60 80 100 120 1400
0.02
0.04
0.06Delta Phase 0001-0007-2011-04-29-14-16-19.mat
Scan
Pha
se
July 2011
Russ Markhovsky, InvisiTrack, Inc.Slide 37
doc.: IEEE 802.22-11/0078r01
Submission
Conversion to Distance
0 10 20 30 40 50 60 70 80 90 1000
5
10
15
20
250001-0002-2011-04-29-14-16-19
distance (m)
perc
ent
(%)
0 10 20 30 40 50 60 70 80 90 1000
5
10
15
20
25
30
35
40
45
500001-0006-2011-04-29-14-16-19
distance (m)
perc
ent
(%)
0 10 20 30 40 50 60 70 80 90 1000
5
10
15
20
25
30
35
40
45
500001-0007-2011-04-29-14-16-19
distance (m)
perc
ent
(%)
July 2011
Russ Markhovsky, InvisiTrack, Inc.Slide 38
doc.: IEEE 802.22-11/0078r01
Submission
Result
0 20 40 60 80 100 120
0
20
40
60
80
100
1202011-04-29-14-16-19.mat
Pseudo-East (m)
Pse
udo-
Nor
th (
m)
Target 1Error Ellipse
Master 2
Master 6
Master 7Iso-Range
July 2011
Russ Markhovsky, InvisiTrack, Inc.Slide 39
doc.: IEEE 802.22-11/0078r1
Submission
July 2011 (DRAFT)
Russ Markhovsky, InvisiTrack, Inc.Slide 40
Backup Slides
doc.: IEEE 802.22-11/0078r1
Submission
Gerald Chouinard, Russ Markvosky
Slide 41
Geolocation accuracy vs fine ranging accuracy• For a given geolocation error, the ranging error has to be smaller because
geolocation methods/ techniques can be subject to location geometry degradation.
Good Geometry
Bad Geometry
TrilaterationTriangulation
Assuming that the geometry degradation amplification is 2X (on average),the required ranging accuracy is +/- 25 meters.
• In addition, the network device electronics propagation delays (residual delay) accuracy is assumend to be +/- 30 ns. This results in +/- 10 meters ranging error
In 802.22, this residual delay needs to be measured by the manufacturer with an accuracy ofat least +/-30 ns (IEEE Std 802.22-2011, subclause 7.7.7.3.4.10.)
• Thus the required fine ranging accuracy needs to be +/- 15 meters