Sistemas de posicionamento baseados em comunicação por luz para ambientes interiores

The demand for highly precise indoor positioning systems (IPSs) is growing rapidly due to its potential in the increasingly popular techniques of the Internet of Things, smart mobile devices, and artificial intelligence. IPS becomes a promising research domain that is getting wide attention due to its benefits in several working scenarios, such as, industries, indoor public locations, and autonomous navigation. Moreover, IPS has a prominent contribution in day-to-day activities in organizations such as health care centers, airports, shopping malls, manufacturing, underground locations, etc., for safe operating environments. In indoor environments, both radio frequency (RF) and optical wireless communication (OWC) based technologies could be adopted for localization. Although the RF-based global positioning system, such as, Global positioning system offers higher penetration rates with reduced accuracy (i.e., in the range of a few meters), it does not work well in indoor environments (and not at all in certain cases such as tunnels, mines, etc.) due to the very weak signal and no direct access to the satellites. On the other hand, the light-based system known as a visible light positioning (VLP) system, as part of the OWC systems, uses the pre-existing light-emitting diodes (LEDs)-based lighting infrastructure, could be used at low cost and high accuracy compared with the RF-based systems. VLP is an emerging technology promising high accuracy, high security, low deployment cost, shorter time response, and low relative complexity when compared with RFbased positioning. However, in indoor VLP systems, there are some concerns such as, multipath reflection, transmitter tilting, transmitter’s position, and orientation uncertainty, human shadowing/blocking, and noise causing the increase in the positioning error, thereby reducing the positioning accuracy of the system. Therefore, it is imperative to capture the characteristics of different VLP channel and properly model them for the dual purpose of illumination and localization. In this thesis, firstly, the impact of transmitter tilting angles and multipath reflections are studied and for the first time, it is demonstrated that tilting the transmitter can be beneficial in VLP systems considering both line of sight (LOS) and non-line of sight transmission paths. With the transmitters oriented towards the center of the receiving plane, the received power level is maximized due to the LOS components. It is also shown that the proposed scheme offers a significant accuracy improvement of up to ~66% compared with a typical non-tilted transmitter VLP. The effect of tilting the transmitter on the lighting uniformity is also investigated and results proved that the uniformity achieved complies with the European Standard EN 12464-1. After that, the impact of transmitter position and orientation uncertainty on the accuracy of the VLP system based on the received signal strength (RSS) is investigated. Simulation results show that the transmitter uncertainties have a severe impact on the positioning error, which can be leveraged through the usage of more transmitters. Concerning a smaller transmitter’s position epochs, and the size of the training set. It is shown that, the ANN with Bayesian regularization outperforms the traditional RSS technique using the non-linear least square estimation for all values of signal to noise ratio. Furthermore, a novel indoor VLP system is proposed based on support vector machines and polynomial regression considering two different multipath environments of an empty room and a furnished room. The results show that, in an empty room, the positioning accuracy improvement for the positioning error of 2.5 cm are 36.1, 58.3, and 72.2 % for three different scenarios according to the regions’ distribution in the room. For the furnished room, a positioning relative accuracy improvement of 214, 170, and 100 % is observed for positioning error of 0.1, 0.2, and 0.3 m, respectively. Ultimately, an indoor VLP system based on convolutional neural networks (CNN) is proposed and demonstrated experimentally in which LEDs are used as transmitters and a rolling shutter camera is used as receiver. A detection algorithm named single shot detector (SSD) is used which relies on CNN (i.e., MobileNet or ResNet) for classification as well as position estimation of each LED in the image. The system is validated using a real-world size test setup containing eight LED luminaries. The obtained results show that the maximum average root mean square positioning error achieved is 4.67 and 5.27 cm with SSD MobileNet and SSD ResNet models, respectively. The validation results show that the system can process 67 images per second, allowing real-time positioning.A procura por sistemas de posicionamento interior (IPSs) de alta precisão tem crescido rapidamente devido ao seu interesse nas técnicas cada vez mais populares da Internet das Coisas, dispositivos móveis inteligentes e inteligência artificial. O IPS tornou-se um domínio de pesquisa promissor que tem atraído grande atenção devido aos seus benefícios em vários cenários de trabalho, como indústrias, locais públicos e navegação autónoma. Além disso, o IPS tem uma contribuição destacada no dia a dia de organizações, como, centros de saúde, aeroportos, supermercados, fábricas, locais subterrâneos, etc. As tecnologias baseadas em radiofrequência (RF) e comunicação óptica sem fio (OWC) podem ser adotadas para localização em ambientes interiores. Embora o sistema de posicionamento global (GPS) baseado em RF ofereça taxas de penetração mais altas com precisão reduzida (ou seja, na faixa de alguns metros), não funciona bem em ambientes interiores (e não funciona bem em certos casos como túneis, minas, etc.) devido ao sinal muito fraco e falta de acesso direto aos satélites. Por outro lado, o sistema baseado em luz conhecido como sistema de posicionamento de luz visível (VLP), como parte dos sistemas OWC, usa a infraestrutura de iluminação baseada em díodos emissores de luz (LEDs) pré-existentes, é um sistemas de baixo custo e alta precisão quando comprado com os sistemas baseados em RF. O VLP é uma tecnologia emergente que promete alta precisão, alta segurança, baixo custo de implantação, menor tempo de resposta e baixa complexidade relativa quando comparado ao posicionamento baseado em RF. No entanto, os sistemas VLP interiores, exibem algumas limitações, como, a reflexão multicaminho, inclinação do transmissor, posição do transmissor e incerteza de orientação, sombra/bloqueio humano e ruído, que têm como consequência o aumento do erro de posicionamento, e consequente redução da precisão do sistema. Portanto, é imperativo estudar as características dos diferentes canais VLP e modelá-los adequadamente para o duplo propósito de iluminação e localização. Esta tesa aborda, primeiramente, o impacto dos ângulos de inclinação do transmissor e reflexões multipercurso no desempenho do sistema de posicionamento. Demonstra-se que a inclinação do transmissor pode ser benéfica em sistemas VLP considerando tanto a linha de vista (LOS) como as reflexões. Com os transmissores orientados para o centro do plano recetor, o nível de potência recebido é maximizado devido aos componentes LOS. Também é mostrado que o esquema proposto oferece uma melhoria significativa de precisão de até ~66% em comparação com um sistema VLP de transmissor não inclinado típico. O efeito da inclinação do transmissor na uniformidade da iluminação também é investigado e os resultados comprovam que a uniformidade alcançada está de acordo com a Norma Europeia EN 12464-1. O impacto da posição do transmissor e incerteza de orientação na precisão do sistema VLP com base na intensidade do sinal recebido (RSS) foi também investigado. Os resultados da simulação mostram que as incertezas do transmissor têm um impacto severo no erro de posicionamento, que pode ser atenuado com o uso de mais transmissores. Para incertezas de posicionamento dos transmissores menores que 5 cm, os erros médios de posicionamento são 23.3, 15.1 e 13.2 cm para conjuntos de 4, 9 e 16 transmissores, respetivamente. Enquanto que, para a incerteza de orientação de um transmissor menor de 5°, os erros médios de posicionamento são 31.9, 20.6 e 17 cm para conjuntos de 4, 9 e 16 transmissores, respetivamente. O trabalho da tese abordou a investigação dos aspetos de projeto de um sistema VLP indoor no qual uma rede neuronal artificial (ANN) é utilizada para estimativa de posicionamento considerando um canal multipercurso. O estudo considerou a influência do ruído como indicador de desempenho para a comparação entre diferentes abordagens de projeto. Três algoritmos de treino de ANNs diferentes foram considerados, a saber, Levenberg-Marquardt, regularização Bayesiana e algoritmos de gradiente conjugado escalonado, para minimizar o erro de posicionamento no sistema VLP. O projeto da ANN foi otimizado com base no número de neurónios nas camadas ocultas, no número de épocas de treino e no tamanho do conjunto de treino. Mostrou-se que, a ANN com regularização Bayesiana superou a técnica RSS tradicional usando a estimação não linear dos mínimos quadrados para todos os valores da relação sinal-ruído. Foi proposto um novo sistema VLP indoor baseado em máquinas de vetores de suporte (SVM) e regressão polinomial considerando dois ambientes interiores diferentes: uma sala vazia e uma sala mobiliada. Os resultados mostraram que, numa sala vazia, a melhoria da precisão de posicionamento para o erro de posicionamento de 2.5 cm são 36.1, 58.3 e 72.2% para três cenários diferentes de acordo com a distribuição das regiões na sala. Para a sala mobiliada, uma melhoria de precisão relativa de posicionamento de 214, 170 e 100% é observada para erro de posicionamento de 0.1, 0.2 e 0.3 m, respetivamente. Finalmente, foi proposto um sistema VLP indoor baseado em redes neurais convolucionais (CNN). O sistema foi demonstrado experimentalmente usando luminárias LED como transmissores e uma camara com obturador rotativo como recetor. O algoritmo de detecção usou um detector de disparo único (SSD) baseado numa CNN pré configurada (ou seja, MobileNet ou ResNet) para classificação. O sistema foi validado usando uma configuração de teste de tamanho real contendo oito luminárias LED. Os resultados obtidos mostraram que o erro de posicionamento quadrático médio alcançado é de 4.67 e 5.27 cm com os modelos SSD MobileNet e SSD ResNet, respetivamente. Os resultados da validação mostram que o sistema pode processar 67 imagens por segundo, permitindo o posicionamento em tempo real.Programa Doutoral em Engenharia Eletrotécnic

Impact of Device Orientation on Error Performance of LiFi Systems

Most studies on optical wireless communications (OWCs) have neglected the effect of random orientation in their performance analysis due to the lack of a proper model for the random orientation. Our recent empirical-based research illustrates that the random orientation follows a Laplace distribution for a static user equipment (UE). In this paper, we analyze the device orientation and assess its importance on system performance. The reliability of an OWC channel highly depends on the availability and alignment of line-of-sight (LOS) links. In this study, the effect of receiver orientation including both polar and azimuth angles on the LOS channel gain are analyzed. The probability of establishing a LOS link is investigated and the probability density function (PDF) of signal-to-noise ratio (SNR) for a randomly-oriented device is derived. By means of the PDF of SNR, the bit-error ratio (BER) of DC-biased optical orthogonal frequency division multiplexing (DCO-OFDM) in additive white Gaussian noise (AWGN) channels is evaluated. A closed-form approximation for the BER of UE with random orientation is presented which shows a good match with Monte-Carlo simulation results. Furthermore, the impact of the UE's random motion on the BER performance has been assessed. Finally, the effect of random orientation on the average signal-to-interference-plus-noise ratio (SINR) in a multiple access points (APs) scenario is investigated.Comment: 10 pages, 11 figures, journa

Visible Light and Camera-based Receiver Employing Machine Learning for Indoor Positioning Systems and Data Communications

Indoor location-based services have played a crucial role in the development of various Internet of Things applications over the last few decades. The use of radio frequency (RF)-based systems in indoor environments suffers from additional interference due to the high penetration rate and reflections of the RF, which may severely affect positioning accuracy. Alternatively, the optical technology using the existing light-emitting diode (LED)-based lights, photodetectors (PDs), and/or image sensors could be utilised to provide indoor positioning with high accuracy. Because of its resilience to electromagnetic interference, license-free operation, large bandwidth, and dual-use for illumination and communication, visible light positioning (VLP) systems have shown great potential in achieving high-precision indoor positioning. This thesis focus is on investigating VLP systems based on employing a single PD, or an array of PDs in the form of a single image sensor (i.e. a camera) for both localization and data communication. Following a comprehensive literature review on VLP, the key challenges in existing positioning methods for achieving a low-cost, accurate, and less complex indoor positioning systems design are highlighted by considering the design characteristics of an indoor environment, position accuracy, number of light-emitting LED, PD, and any additional sensors utilized. The thesis focuses on the major constraints of VLP and provides novel contributions. In most reported VLP schemes, the assumptions of fixed transmitter (Tx) angle and height may not be valid in many physical environments. In this work, the impact of tilting Tx and multipath reflections are investigated. The findings demonstrated that tilting Tx can be beneficial in VLP by leveraging the influence of reflections from both near- and far-walls. It also showed that proposed system offers a significant accuracy improvement by up to ~66% compared with a typical non-tilted Tx VLP system.Furthermore, increasing robustness of image sensor-based receiver (Rx) is a major challenge, which is being addressed using a novel angle of arrival-received signal intensity and a single LED. Experimental results show that the proposed algorithm can achieve a three-dimensional root mean squared error of 7.56 cm. Visible light communications employing a camera-based Rx is best known as optical camera communications (OCC), which can also be used for VLP. However, in OCC the transmission data rate is mainly limited by the exposure time and the frame rate of the camera. In addition, the camera's sampling introduces intersymbol interference Indoor location-based services have played a crucial role in the development of various Internet of Things applications over the last few decades. The use of radio frequency (RF)-based systems in indoor environments suffers from additional interference due to the high penetration rate and reflections of the RF, which may severely affect positioning accuracy. Alternatively, the optical technology using the existing light-emitting diode (LED)-based lights, photodetectors (PDs), and/or image sensors could be utilised to provide indoor positioning with high accuracy. Because of its resilience to electromagnetic interference, license-free operation, large bandwidth, and dual-use for illumination and communication, visible light positioning (VLP) systems have shown great potential in achieving high-precision indoor positioning. This thesis focus is on investigating VLP systems based on employing a single PD, or an array of PDs in the form of a single image sensor (i.e. a camera) for both localization and data communication. Following a comprehensive literature review on VLP, the key challenges in existing positioning methods for achieving a low-cost, accurate, and less complex indoor positioning systems design are highlighted by considering the design characteristics of an indoor environment, position accuracy, number of light-emitting LED, PD, and any additional sensors utilized. The thesis focuses on the major constraints of VLP and provides novel contributions. In most reported VLP schemes, the assumptions of fixed transmitter (Tx) angle and height may not be valid in many physical environments. In this work, the impact of tilting Tx and multipath reflections are investigated. The findings demonstrated that tilting Tx can be beneficial in VLP by leveraging the influence of reflections from both near- and far-walls. It also showed that proposed system offers a significant accuracy improvement by up to ~66% compared with a typical non-tilted Tx VLP system.Furthermore, increasing robustness of image sensor-based receiver (Rx) is a major challenge, which is being addressed using a novel angle of arrival-received signal intensity and a single LED. Experimental results show that the proposed algorithm can achieve a three-dimensional root mean squared error of 7.56 cm. Visible light communications employing a camera-based Rx is best known as optical camera communications (OCC), which can also be used for VLP. However, in OCC the transmission data rate is mainly limited by the exposure time and the frame rate of the camera. In addition, the camera's sampling introduces intersymbol interference

Measurements-Based Channel Models for Indoor LiFi Systems

Light-fidelity (LiFi) is a fully-networked bidirectional optical wireless communication (OWC) that is considered a promising solution for high-speed indoor connectivity. Unlike in conventional radio frequency wireless systems, the OWC channel is not isotropic, meaning that the device orientation affects the channel gain significantly. However, due to the lack of proper channel models for LiFi systems, many studies have assumed that the receiver is vertically upward and randomly located within the coverage area, which is not a realistic assumption from a practical point of view. In this paper, novel realistic and measurement-based channel models for indoor LiFi systems are proposed. Precisely, the statistics of the channel gain are derived for the case of randomly oriented stationary and mobile LiFi receivers. For stationary users, two channel models are proposed, namely, the modified truncated Laplace (MTL) model and the modified Beta (MB) model. For LiFi users, two channel models are proposed, namely, the sum of modified truncated Gaussian (SMTG) model and the sum of modified Beta (SMB) model. Based on the derived models, the impact of random orientation and spatial distribution of LiFi users is investigated, where we show that the aforementioned factors can strongly affect the channel gain and system performance

Analysis of random orientation and user mobility in LiFi networks

Mobile data traffic is anticipated to surpass 49 exabyte per month by 2021. Smartphones, as the main factor of generating this huge data traffic (86%), are expected to require average speed connection of 20 Mbps by 2021. Light-fidelity (LiFi) is a novel bidirectional, high-speed and fully networked optical wireless communication and it is a promising solution to undertake this huge data traffic. However, to support seamless connectivity in LiFi networks, real-time knowledge of channel state information (CSI) from each user is required at the LiFi access point (AP). The CSI availability enables us to achieve optimal resource allocation and throughput maximization but it requires feedback transmitted through the uplink channel. Furthermore, the important aspects of the indoor LiFi channel such as the random orientation of user device, user mobility and link blockage need to be carefully analysed and effective solutions should be developed. In contrast to radio frequency (RF) channels, the LiFi channel is relatively less random. This feature of LiFi channel enables a potential reduction in the amount of feedback required to achieve high throughputs in a dynamic LiFi network. Based on this feature, two techniques for reducing the amount of feedback in LiFi cellular networks are proposed: 1) limited-content feedback scheme based on reducing the content of feedback information and 2) limited-frequency feedback scheme based on the update interval. It is shown that these limited-feedback schemes can provide almost the same downlink performance as full feedback scheme. Furthermore, an optimum update interval which provides maximum bidirectional user equipment (UE) throughput, has been derived. Device orientation and its statistics is an important determinant factor that can affect the users throughput remarkably in LiFi networks. However, device orientation has been ignored in many previous performance studies of LiFi networks due to the lack of a proper statistical model. In this thesis, a novel model for the orientation of user device are proposed based on experimental measurements. The statistics of the device orientation for both sitting and walking activities are presented. Moreover, the statistics of the line-of-sight (LOS) channel gain are calculated. The influence of random device orientation on the received signal-to-noise-ratio (SNR) and bit-error ratio (BER) performance of LiFi systems has been also evaluated. To support the seamless connectivity of future LiFi-enabled devices in the presence of random device orientation, mobility and blockage, efficient handover between APs are required. In this thesis, an orientation-based random waypoint (ORWP) mobility model is proposed to analyze the performance of mobile users considering the effect of random device orientation. Based on this model, an analysis of handover due to random orientation and user mobility is presented. Finally, in order to improve seamless connectivity, a multi-directional receiver (MDR) configuration is proposed. The MDR configuration shows a robust performance in the presence of user mobility, random device orientation and blockage

Performance evaluation of a 40 GHz broadband cellular system

Doutoramento em Engenharia ElectrónicaO trabalho apresentado nesta tese enquadra-se na área das comunicações móveis celulares e tem subjacente a utilização de um protótipo de um sistema de comunicações móveis de banda larga desenvolvido no âmbito do projecto Europeu SAMBA. Este protótipo apresenta como principais características inovadoras as taxas de transmissão, a frequência de operação, a mobilidade e os protocolos de handover rádio. Inicialmente são descritos aspectos relacionados com a evolução das comunicações móveis ao longo do tempo e apresentados conceitos teóricos fundamentais para compreender o comportamento do canal rádio móvel e os mecanismos de propagação. São identificados os tipos de desvanecimento e descritos os vários parâmetros que permitem caracterizar o canal rádio. A descrição do impacto do desvanecimento e as formas de o mitigar são apresentadas para contextualizar o trabalho desenvolvido em termos da especificação do protótipo e as opções escolhidas. As características globais do protótipo são apresentadas o que inclui a descrição do interface rádio, da arquitectura, dos módulos de RF, dos módulos de processamento de banda base, protocolos e algoritmo de transferência rádio. O protótipo foi avaliado em vários cenários com diferentes características. No cenário exterior foi analisada uma rua urbana típica do tipo canyon. Em termos de configuração do sistema foram consideradas e analisadas várias alturas da Estação Base, anglos de inclinação das antenas, várias velocidades da Terminal Móvel, operação com e sem linha de vista e a penetração do sinal rádio em ruas transversais. No cenário interior foram realizados testes similares e medidas relativas às transferências que só foram executadas para este cenário por questões logísticas. Numa primeira abordagem foi analisada a cobertura oferecida por cada célula e posteriormente activada a funcionalidade de transferência. Foram também efectuados estudos com uma única Estação Base cobrindo toda a área. Em termos de caracterização do canal rádio em banda larga são apresentadas medidas da resposta impulsiva para dois cenários interiores e complementados por outros estudos via simulação utilizando uma ferramenta de ray tracing. Nas medidas foi utilizado um método de medição do canal no domínio da frequência. A relação entre o Espalhamento do Atraso e a Banda de Coerência em diferentes cenários foi analisada em detalhe e feita a verificação em termos da violação do limite teórico de Fleury. Como consequência dos tópicos abordados, esta tese apresenta um estudo abrangente de aspectos relacionados com o comportamento do canal rádio na faixa dos 40 GHz e a análise das opções técnicas do protótipo em termos do seu desempenho no âmbito dos sistemas de comunicações móveis 4G.The work presented in this thesis addresses the area of mobile cellular broadband communications and encompasses the utilization of a prototype developed in the framework of the European project SAMBA. This prototype has as main innovative characteristics the transmission rates, the frequency band of operation, the mobility and the radio handover protocols. Initially are described aspects related with the historical evolution of the mobile communications and presented fundamental theoretical concepts to understand the behaviour of the radio channel and the propagation mechanisms. The different types of fading are identified as well as the various parameters that allow the characterisation of the radio channel. The fading impact and its mitigation techniques are presented to contextualise the work developed in terms of the specification of the features implemented in the prototype and the options available. The global characteristic of the prototype are presented namely the radio interface, the architecture, the RF modules, the baseband modules, protocols and the algorithm for the radio handover. The prototype was evaluated in various scenarios with different characteristics. In the outdoor scenario a canyon type street was analysed. Several heights of the Base Station, antenna tilting angles, Mobile Terminal velocities, operation in line-of-sight and non line-of-sight and the penetration of the signal in a transversal street. In the indoor scenario similar measurements were performed. The handover feature was analysed just for this scenario due to logistic reasons. In a first phase the coverage provided by each Base Station was analysed and subsequently activated the handover functionality. Studies using a single Base Station to cover the whole pavilion were also performed. In terms of broadband analysis, channel impulse response measurements were performed using a frequency domain technique in two scenarios and complemented by others analysed only using a ray tracing simulation tool. The relationship between the radio channel Delay Spread and the Coherence Bandwidth was analysed in different scenarios and the possible violation of the Fleury lower bond checked. As a consequence of the several topics covered in this thesis, a deep study of the aspects related with the behaviour of the radio channel in the 40 GHz band and the performance of the technical options implemented in the prototype is presented in the framework of 4G mobile communication systems

Modeling the Random Orientation of Mobile Devices: Measurement, Analysis and LiFi Use Case

Light-fidelity (LiFi) is a networked optical wireless communication (OWC) solution for high-speed indoor connectivity for fixed and mobile optical communications. Unlike conventional radio frequency wireless systems, the OWC channel is not isotropic, meaning that the device orientation affects the channel gain significantly, particularly for mobile users. However, due to the lack of a proper model for device orientation, many studies have assumed that the receiver is vertically upward and fixed. In this paper, a novel model for device orientation based on experimental measurements of forty participants has been proposed. It is shown that the probability density function (PDF) of the polar angle can be modeled either based on a Laplace (for static users) or a Gaussian (for mobile users) distribution. In addition, a closed-form expression is obtained for the PDF of the cosine of the incidence angle based on which line-of-sight (LOS) channel gain is described in OWC channels. An approximation of this PDF based on the truncated Laplace is proposed and the accuracy of this approximation is confirmed by the Kolmogorov-Smirnov distance (KSD). Moreover, the statistics of the LOS channel gain are calculated and the random orientation of a user equipment (UE) is modeled as a random process. The influence of the random orientation on signal-to-noise-ratio (SNR) performance of OWC systems has been evaluated. Finally, an orientation-based random waypoint (ORWP) mobility model is proposed by considering the random orientation of the UE during the user's movement. The performance of ORWP is assessed on the handover rate and it is shown that it is important to take the random orientation into account.Comment: 14 pages, 7 figure