Asynchronous Ultrasonic Trilateration for Indoor Positioning of Mobile Phones

Spatial awareness is fast becoming the key feature on today‟s mobile devices. While accurate outdoor navigation has been widely available for some time through Global Positioning Systems (GPS), accurate indoor positioning is still largely an unsolved problem. One major reason for this is that GPS and other Global Navigation Satellite Systems (GNSS) systems offer accuracy of a scale far different to that required for effective indoor navigation. Indoor positioning is also hindered by poor GPS signal quality, a major issue when developing dedicated indoor locationing systems. In addition, many indoor systems use specialized hardware to calculate accurate device position, as readily available wireless protocols have so far not delivered sufficient levels of accuracy. This research aims to investigate how the mobile phone‟s innate ability to produce sound (notably ultrasound) can be utilised to deliver more accurate indoor positioning than current methods. Experimental work covers limitations of mobile phone speakers in regard to generation of high frequencies, propagation patternsof ultrasound and their impact on maximum range, and asynchronous trilateration. This is followed by accuracy and reliability tests of an ultrasound positioning system prototype.This thesis proposes a new method of positioning a mobile phone indoors with accuracy substantially better than other contemporary positioning systems available on off-theshelf mobile devices. Given that smartphones can be programmed to correctly estimate direction, this research outlines a potentially significant advance towards a practical platform for indoor Location Based Services. Also a novel asynchronous trilateration algorithm is proposed that eliminates the need for synchronisation between the mobile device and the positioning infrastructure

Loss Diagnosis and Indoor Position Location System based on IEEE 802.11 WLANs

Wireless local area networks (WLANs) have been widely deployed to provide short range broadband communications. Due to the fast evolvement of IEEE 802.11 based WLAN standards and various relevant applications, many research efforts have been focused on the optimization of WLAN data rate, power and channel utilization efficiency. On the other hand, many emerging applications based on WLANs have been introduced. Indoor position location (IPL) system is one of such applications which turns IEEE 802.11 from a wireless communications infrastructure into a position location network. This thesis mainly focuses on data transmission rate enhancement techniques and the development of IEEE 802.11 WLAN based IPL system with improved locationing accuracy. In IEEE 802.11 systems, rate adaptation algorithms (RAAs) are employed to improve transmission efficiency by choosing an appropriate modulation and coding scheme accord­ ing to point-to-point channel conditions. However, due to the resource-sharing nature of WLANs, co-channel interferences and frame collisions cannot be avoided, which further complicates the wireless environment and makes the RAA design a more challenging task. As WLAN performance depends on many dynamic factors such as multipath fading and co-channel interferences, differentiating the cause of performance degradation such as frame losses, which is known as loss diagnosis techniques, is essential for performance enhance­ ments of existing rate adaptation schemes. In this thesis, we propose a fast and reliable collision detection scheme for frame loss diagnosis in IEEE 802.11 WLANs. Collisions are detected by tracking changes of the signal-to-interference-and-noise-ratio (SINR) in IEEE 802.11 WLANs with a nonparametric order-based cumulative sum (CUSUM) algorithm for rapid loss diagnosis. Numerical simulations are conducted to evaluate the effectiveness of the proposed collision detection scheme. The other aspect of this thesis is the investigation of an IEEE 802.11 WLAN based IPL system. WLAN based IPL systems have received increasing attentions due to their variety of potential applications. Instead of relying on dedicated locationing networks and devices, IEEE 802.11 WLAN based IPL systems utilize widely deployed IEEE 802.11 WLAN infrastructures and standardized wireless stations to determine the position of a target station in indoor environments. iii Abstract In this thesis, a WLAN protocol-based distance measurement technique is investigated, which takes advantages of existing IEEE 802.11 data/ACK frame exchange sequences. In the proposed distance measurement technique, neither dedicated hardware nor hardware modifications is required. Thus it can be easily integrated into off-the-shelf commercial, inexpensive WLAN stations for IPL system implementation. Field test results confirm the efficacy of the proposed protocol-based distance measurement technique. Furthermore, a preliminary IPL system based on the proposed method is also developed to evaluate the feasibility of the proposed technique in realistic indoor wireless environments

Indoor Cooperative Localization for Ultra Wideband Wireless Sensor Networks

In recent years there has been growing interest in ad-hoc and wireless sensor networks (WSNs) for a variety of indoor applications. Localization information in these networks is an enabling technology and in some applications it is the main sought after parameter. The cooperative localization performance of WSNs is ultimately constrained by the behavior of the utilized ranging technology in dense cluttered indoor environments. Recently, ultra-wideband (UWB) Time-of-Arrival (TOA) based ranging has exhibited potential due to its large bandwidth and high time resolution. However, the performance of its ranging and cooperative localization capabilities in dense indoor multipath environments needs to be further investigated. Of main concern is the high probability of non-line of sight (NLOS) and Direct Path (DP) blockage between sensor nodes, which biases the TOA estimation and degrades the localization performance. In this dissertation, we first present the results of measurement and modeling of UWB TOA-based ranging in different indoor multipath environments. We provide detailed characterization of the spatial behavior of ranging, where we focus on the statistics of the ranging error in the presence and absence of the DP and evaluate the pathloss behavior in the former case which is important for indoor geolocation coverage characterization. Parameters of the ranging error probability distributions and pathloss models are provided for different environments: traditional office, modern office, residential and manufacturing floor; and different ranging scenarios: indoor-to-indoor (ITI), outdoor-to-indoor (OTI) and roof-to-indoor (RTI). Based on the developed empirical models of UWB TOA-based OTI and ITI ranging, we derive and analyze cooperative localization bounds for WSNs in the different indoor multipath environments. First, we highlight the need for cooperative localization in indoor applications. Then we provide comprehensive analysis of the factors affecting localization accuracy such as network and ranging model parameters. Finally we introduce a novel distributed cooperative localization algorithm for indoor WSNs. The Cooperative LOcalization with Quality of estimation (CLOQ) algorithm integrates and disseminates the quality of the TOA ranging and position information in order to improve the localization performance for the entire WSN. The algorithm has the ability to reduce the effects of the cluttered indoor environments by identifying and mitigating the associated ranging errors. In addition the information regarding the integrity of the position estimate is further incorporated in the iterative distributed localization process which further reduces error escalation in the network. The simulation results of CLOQ algorithm are then compared against the derived G-CRLB, which shows substantial improvements in the localization performance

Intelligent Processing in Wireless Communications Using Particle Swarm Based Methods

There are a lot of optimization needs in the research and design of wireless communica- tion systems. Many of these optimization problems are Nondeterministic Polynomial (NP) hard problems and could not be solved well. Many of other non-NP-hard optimization problems are combinatorial and do not have satisfying solutions either. This dissertation presents a series of Particle Swarm Optimization (PSO) based search and optimization algorithms that solve open research and design problems in wireless communications. These problems are either avoided or solved approximately before. PSO is a bottom-up approach for optimization problems. It imposes no conditions on the underlying problem. Its simple formulation makes it easy to implement, apply, extend and hybridize. The algorithm uses simple operators like adders, and multipliers to travel through the search space and the process requires just five simple steps. PSO is also easy to control because it has limited number of parameters and is less sensitive to parameters than other swarm intelligence algorithms. It is not dependent on initial points and converges very fast. Four types of PSO based approaches are proposed targeting four different kinds of problems in wireless communications. First, we use binary PSO and continuous PSO together to find optimal compositions of Gaussian derivative pulses to form several UWB pulses that not only comply with the FCC spectrum mask, but also best exploit the avail- able spectrum and power. Second, three different PSO based algorithms are developed to solve the NLOS/LOS channel differentiation, NLOS range error mitigation and multilateration problems respectively. Third, a PSO based search method is proposed to find optimal orthogonal code sets to reduce the inter carrier interference effects in an frequency redundant OFDM system. Fourth, a PSO based phase optimization technique is proposed in reducing the PAPR of an frequency redundant OFDM system. The PSO based approaches are compared with other canonical solutions for these communication problems and showed superior performance in many aspects. which are confirmed by analysis and simulation results provided respectively. Open questions and future Open questions and future works for the dissertation are proposed to serve as a guide for the future research efforts

Techniques for Communication and Geolocation using Wireless Ad hoc Networks

Networks with hundreds of ad hoc nodes equipped with communication and position finding abilities are conceivable with recent advancements in technology. Methods are presented in this thesis to assess the communicative capabilities and node position estimation of mobile ad hoc networks. Specifically, we investigate techniques for providing communication and geolocation with specific characteristics in wireless ad hoc networks. The material presented in this thesis, communication and geolocation, may initially seem a collection of disconnected topics related only distantly under the banner of ad hoc networks. However, systems currently in development combining these techniques into single integrated systems. In this thesis first, we investigate the effect of multilayer interaction, including fading and path loss, on ad hoc routing protocol performance, and present a procedure for deploying an ad hoc network based on extensive simulations. Our first goal is to test the routing protocols with parameters that can be used to characterize the environment in which they might be deployed. Second, we analyze the location discovery problem in ad hoc networks and propose a fully distributed, infrastructure-free positioning algorithm that does not rely on the Global Positioning System (GPS). The algorithm uses the approximate distances between the nodes to build a relative coordinate system in which the node positions are computed in three-dimensions. However, in reconstructing three-dimensional positions from approximate distances, we need to consider error threshold, graph connectivity, and graph rigidity. We also statistically evaluate the location discovery procedure with respect to a number of parameters, such as error propagation and the relative positions of the nodes

Modeling the Behavior of Multipath Components Pertinent to Indoor Geolocation

Recently, a number of empirical models have been introduced in the literature for the behavior of direct path used in the design of algorithms for RF based indoor geolocation. Frequent absence of direct path has been a major burden on the performance of these algorithms directing researchers to discover algorithms using multipath diversity. However, there is no reliable model for the behavior of multipath components pertinent to precise indoor geolocation. In this dissertation, we first examine the absence of direct path by statistical analysis of empirical data. Then we show how the concept of path persistency can be exploited to obtain accurate ranging using multipath diversity. We analyze the effects of building architecture on the multipath structure by demonstrating the effects of wall length and wall density on the path persistency. Finally, we introduce a comprehensive model for the spatial behavior of multipath components. We use statistical analysis of empirical data obtained by a measurement calibrated ray-tracing tool to model the time-of- arrival, angle-of-arrival and path gains. The relationship between the transmitter-receiver separation and the number of paths are also incorporated in our model. In addition, principles of ray optics are applied to explain the spatial evolution of path gains, time-of-arrival and angle-of-arrival of individual multipath components as a mobile terminal moves inside a typical indoor environment. We also use statistical modeling for the persistency and birth/death rate of the paths

Improved Localization Algorithms in Indoor Wireless Environment

Localization has been considered as an important precondition for the location-dependent applications such as mobile tracking and navigation.To obtain specific location information, we usually make use of Global Positioning System(GPS), which is the most common plat- form to acquire localization information in outdoor environments. When targets are in indoor environment, however, the GPS signal is usually blocked, so we also consider other assisted positioning techniques in order to obtain accurate position of targets. In this thesis, three different schemes in indoor environment are proposed to minimize localization error by placing refer- ence nodes in optimum locations, combining the localization information from accelerometer sensor in smartphone with Received Signal Strength (RSS) from reference nodes, and utilizing frequency diversity in Wireless Fidelity (WiFi) environment. Deployments of reference nodes are vital for locating nearby targets since they are used to estimate the distances from them to the targets. A reference nodes’ placement scheme based on minimizing the average mean square error of localization over a certain region is proposed in this thesis first and is applied in different localization regions which are circular, square and hexagonal for illustration of the flexibility of the proposed scheme. Equipped with accelerometer sensor, smartphone provides useful information which out- puts accelerations in three different directions. Combining acceleration information from smart- phones and signal strength information from reference nodes to prevent the accumulated error from accelerometer is studied in this thesis. The combined locating error is narrowed by as- signing different weights to localization information from accelerometer and reference nodes. In indoor environment, RSS technology based localization is the most common way to imply since it require less additional hardware compared to other localization technologies. However, RSS can be affected greatly by complex circumstance as well as carrier frequency. Utilization of diverse frequencies to improve localization performance is proposed in the end of this thesis along with some experiments applied on Software Defined Platform (SDR)

A Survey of 3D Indoor Localization Systems and Technologies

Indoor localization has recently and significantly attracted the interest of the research community mainly due to the fact that Global Navigation Satellite Systems (GNSSs) typically fail in indoor environments. In the last couple of decades, there have been several works reported in the literature that attempt to tackle the indoor localization problem. However, most of this work is focused solely on two-dimensional (2D) localization, while very few papers consider three dimensions (3D). There is also a noticeable lack of survey papers focusing on 3D indoor localization; hence, in this paper, we aim to carry out a survey and provide a detailed critical review of the current state of the art concerning 3D indoor localization including geometric approaches such as angle of arrival (AoA), time of arrival (ToA), time difference of arrival (TDoA), fingerprinting approaches based on Received Signal Strength (RSS), Channel State Information (CSI), Magnetic Field (MF) and Fine Time Measurement (FTM), as well as fusion-based and hybrid-positioning techniques. We provide a variety of technologies, with a focus on wireless technologies that may be utilized for 3D indoor localization such as WiFi, Bluetooth, UWB, mmWave, visible light and sound-based technologies. We critically analyze the advantages and disadvantages of each approach/technology in 3D localization