1. ETH Zurich Engineering Geodesy - Prof. Dr. H. Ingensand The Challenges of Indoor Environments and Specification on some Alternative Positioning Systems Rainer Mautz ETH Zürich Institute of Geodesy and Photogrammetry 6 th Workshop on Positioning, Navigation and Communication (WPNC'09), 19.3.2009

2. ETH Zurich Engineering Geodesy - Prof. Dr. H. Ingensand Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook Contents 1. Overview of Systems 2. GNSS 3. Alternative Positioning Systems - Locata - iGPS - Ultrasound - CLIPS 4. Conclusions & Outlook

3. ETH Zurich Engineering Geodesy - Prof. Dr. H. Ingensand 1 m 10 m 100 m 1 km 10 km Indoor Outdoor Range 10 μm 100 μm 1 mm 1 cm 1 dm 1 m 10 m 100 m Accuracy graphic: Rainer Mautz Classification of Positioning Systems Further classification by:  Signal wavelength (Radio Frequencies, Light Waves, Ultrasound, RFID, Terahertz)  Principle (trilateration, triangulation, signal strength)  Active / passive sensors  Application (industry, surveying, navigation) Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook

4. ETH Zurich Engineering Geodesy - Prof. Dr. H. Ingensand Range CLIPS 1 m 10 m 100 m 1 km 10 km 10 μm 100 μm 1 mm 1 cm 1 dm 1 m 10 m 100 m Indoor Outdoor Accuracy graphic: Rainer Mautz Range Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook

5. ETH Zurich Engineering Geodesy - Prof. Dr. H. Ingensand Range graphic: Rainer Mautz Range CLIPS 1 m 10 m 100 m 1 km 10 km 10 μm 100 μm 1 mm 1 cm 1 dm 1 m 10 m 100 m Indoor Outdoor Accuracy Range Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook

6. ETH Zurich Engineering Geodesy - Prof. Dr. H. Ingensand GNSS – Performance: SystemPrinciple Coverage Real- time AccuracyRange Data Rate MarketCost OutdoorIndoor Geodetic GNSS TOA, lateration, differential technique ( )  mmglobal20 Hzyes moderate to high in addition:  strong attenuation  fading: reflections, diffraction, scattering  no general model no direct line-of- sight:  obstacles  multipath limitations: Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook

7. ETH Zurich Engineering Geodesy - Prof. Dr. H. Ingensand Material[dB]Factor [-] Glass1 - 40.8 – 0.4 Wood2 - 90.6 – 0.1 Roofing Tiles / Bricks5 - 310.3 – 0.001 Concrete12 - 430.06 – 0.00005 Ferro-Concrete29 - 430.001 – 0.00005 Attenuation of various building materials (L1 = 1500 MHz) Stone (1997) Signal Strength in Decibel Watt of GNSS Satellites Environment[dBW] Satellite+14signal strength delivered from satellite Outdoors-155unaided fixes OK for standard receivers Indoors-176decode limit for high sensitive receivers Underground-191decode limit for aided, ultra-high sensitive receivers Indoors: 100 times weaker underground: 10000 times weaker How to overcome attenuation?  Increase receiver sensibility  Increase satellite signal power  Ultra wideband GNSS signals  Assisted GNSS Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook

8. ETH Zurich Engineering Geodesy - Prof. Dr. H. Ingensand Terrestrial pseudolite transceivers, Locata Corporation in Canberra Augmentation for GNSS in urban canyons, pit mines, buildings Alternative Positioning Systems - Locata Picture from Jonas BERTSCH: On-the-fly Ambiguity Resolution for the Locata Positioning System, Master Thesis, ETH Zurich, February 2009. Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook

9. ETH Zurich Engineering Geodesy - Prof. Dr. H. Ingensand SystemPrincipleOutdoorIndoor Real- time AccuracyRange Signal Frequency Data Rate MarketCost Locata TOA, lateration 2 mm static 1 cm RTK, 2 - 3 kmRF1 Hz in progress high Locata – Key Parameters: (+) RTK: 1 – 2 cm deviations at 2.4 m/s (+) signal magnitude stronger than GNSS (+) indoors dm Challanges: multipath (low elevation) Synchronisation < 30 pico-seconds Picture from J. Barnes, C. Rizos, M. Kanli, A. Pahwa „A Positioning Technology for Classically Difficult GNSS Environments from Locata“, IEEE Conference, San Diego California, 26 April 2006 Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook

10. ETH Zurich Engineering Geodesy - Prof. Dr. H. Ingensand iGPS – “laser resection” PrincipleOutdoorIndoor Real- time AccuracyRange Signal Frequency Data Rate MarketCost TOA angular measurements 0.1 – 0.2 mm 2 - 50 mRF40 Hzin progresshigh Key design:  two or more fixed transmitters  rotating fan-shaped laser beams  infrared signal  various sensors detect arrival times  position determination with spatial forward intersection graphic from Metris Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook

11. ETH Zurich Engineering Geodesy - Prof. Dr. H. Ingensand iGPS iGPS transmitter and sensor during a test in a tunnel Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook

12. ETH Zurich Engineering Geodesy - Prof. Dr. H. Ingensand iGPS Application of iGPS in a tunnel. Master Thesis, ETH Zurich by DAVID ULRICH: Innovative Positionierungs- systeme im Untertagebau, July 2008 Results Strengths: - High accuracy (0.1 mm) confirmed - Real-time, 40 Hz confirmed Problems: - Multipath - Influence of light sources Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook

13. ETH Zurich Engineering Geodesy - Prof. Dr. H. Ingensand Ultrasound Systems – Crickets, Active Bat, Dolphin SystemPrincipleOutdoorIndoor Real- time AccuracyRange Signal Frequency Data Rate MarketCost Cricket TOA, lateration  1 – 2 cm10 multrasound1 Hz develop ment low Active Bat TOA, lateration  1 – 5 cm1000 m 2 ultrasound75 Hznomoderate DOLPHIN TOA, lateration  2 cm room scale ultrasound20 Hznomoderate Method:  TOA, TDOA (ultrasound & RF)  Multilateration Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook

14. ETH Zurich Engineering Geodesy - Prof. Dr. H. Ingensand Problems:  dependency on temperature  maximal range  deployment of reference beacons  multipath  reliability  interference with other sound sources Ultrasound Systems – Crickets Ceiling Floor Beacon Listener Student Project: Robot Positioning Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook

15. ETH Zurich Engineering Geodesy - Prof. Dr. H. Ingensand Optical Positioning Systems: ProCam System (AICON) Mobile probe with CCD camera. Spatial resection of measuring head.  relies on coded reference targets. (illuminated by an infrared flash) SystemPrincipleOutdoorIndoor Real- time AccuracyRange Signal Frequency Data RateMarketCost ProCamoptical  0.1 mmany roominfrared90 points / hyeshigh Pictures from: http://www.aicon.de Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook

16. ETH Zurich Engineering Geodesy - Prof. Dr. H. Ingensand Optical Positioning Systems: CLIPS (Camera and Laser Indoor Positioning System) Production of laser “hedgehog” PrincipleOutdoorIndoor Real- time AccuracyRange Signal Frequency Data Rate MarketCost Image Based  mm-level15 mvisible light30 Hznolow Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook

17. ETH Zurich Engineering Geodesy - Prof. Dr. H. Ingensand CLIPS Principle: P5P5 P4P4 P1P1 P2P2 Laser Pointer Hedgehog (fixed) basevector P3P3 Camera (mobile) Object Probe (optional) Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook

18. ETH Zurich Engineering Geodesy - Prof. Dr. H. Ingensand CLIPS Difficulties in detection of laser spots Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook

19. ETH Zurich Engineering Geodesy - Prof. Dr. H. Ingensand Outdoors: GNSS dominating system for open-sky Indoors: No overall solution yet Several indoor systems on the market  low accuracy  sophisticated setups  limited coverage area  inadequate costs  signals will penetrate buildings  use existing infrastructure  for higher accuracy are local installations unavoidable Project CLIPS: Building own indoor positioning system! Conclusions Outdoors: GNSS dominating system for open-sky Indoors: No overall solution yet Several indoor systems on the market  low accuracy  sophisticated setups  limited coverage area  inadequate costs Outlook  signals will penetrate buildings  use existing infrastructure  for higher accuracy are local installations unavoidable Project CLIPS: Building own indoor positioning system! Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook Overview of Positioning Systems GNSS Alternative Positioning Systems Conclusions & Outlook

20. ETH Zurich Engineering Geodesy - Prof. Dr. H. Ingensand End