ETH - Indoor Positioning & Indoor Navigation


08:15 - 08:45	Carl Ellis (presenting author), Mike Hazas: A comparison of multidimensional scaling and non-linear regression for positioning applications For locating a set of stationary devices, algorithms such as MDS-MAP have been favoured by the sensor network community because of their low computational complexity. Whilst comparisons for complexity and performance have been done for other algorithms, non-linear regression has been neglected. The authors find that it is not much more expensive, and can yield significantly better accuracy for sensor network localisation.

08:45 - 09:15	Michael Buehrer (presenting author), Benton Thompson, and Tao Jia: Cooperative Indoor Position Location Indoor positioning has become a hot research topic due to a plethora of interesting applications ranging from emergency responder tracking to location-based services. In this work we focus on the problem of network localization also sometimes called collaborative localization where a network of nodes is to be localized using both connections to anchors (when they exist) and connections between unlocalized nodes [1]. Although several algorithms have been investigated in the literature (e.g., [2]), most have assumed line-of-sight (LOS) propagation which is uncommon in most indoor environments. Although the impact of non-LOS (NLOS) propagation has been considered in the literature (e.g., [3,4]), this has typically been limited to traditional single-node localization such as cellular location estimation. Specifically, we propose a technique designed for NLOS propagation for collaborative position location and demonstrate the performance improvement possible.

09:15 - 09:45	Alfonso Bahillo (presenting author), Santiago Mazuelas, Javier Prieto, Patricia Fernández, Rubén M. Lorenzo and Evaristo J. Abril: Hybrid RSS-RTT Localization Scheme for Wireless Networks While many outdoor solutions based on GNSS signals provide mobile station (MS) location, in indoor environments the received signals are too weak to provide an accurate location using that technology. However, given that many buildings are equipped with wireless access points (APs), it may be practical to use the information coming from these APs to determine the MS location in these indoor environments. The aim of this paper is to accurately provide user location combining received signal strength (RSS) and time delay in terms of round-trip time (RTT) information. The hybrid localization scheme is based on a RSS ranging technique that uses RTT ranging estimates as range constraints. This hybrid scheme coupled with simulations and measurements demonstrates that it outperforms the previous RSS-based and RTT-based methods without using either a filtering technique or a calibration stage of the environment.

Localisation, Algorithms for WSN, Part 2

Session Chair: Philipp Sommer, ETH Zurich

10:15 - 10:45	Marcel Baunach at University Würzburg: pVoted: A Progressive On-Line Algorithm for Robust Real-Time Localization and Tracking in spite of Faulty Distance Information We present a progressive 3D localization algorithm for obtaining fairly precise position estimations in spite of highly imprecise and error-prone distance measurements from low cost hardware. At the same time, we achieve a high localization frequency, reduce energy for wireless data aggregation and require little memory. We also provide a quality and trust classifier for each estimation. The low CPU load facilitates its use on weak devices, e.g. within wireless sensor/actor networks. For real-time tracking, a short position history further improves its performance.

10:45 - 11:15	Anna Maria Vegni (presenting author), Marco Carli, Alessandro Neri: Localization Services in Hybrid Self-organizing Networks In this paper we present a localization technique for self-organizing hybrid networks, where both indoor and outdoor scenarios coexist. In the proposed framework, outdoor anchor nodes act as reference nodes for estimating the position of mobile nodes which are moving in an indoor scenario. The reference nodes are equipped with both IEEE 802.16e and GPS network interface cards. The mobile nodes share some location information for estimating their own position by using flooding communication scheme. The accuracy of localization measurement is assessed in terms of Dilution of Precision, which is strictly depending on nodes topology. To minimize position and speed estimation errors of each node, an Extended Kalman Filtering technique is adopted. Simulation results demonstrate the effectiveness of the proposed approach, in terms of position and speed uncertainty.

11:15 - 11:30	Alexander Born (presenting author), Frank Niemeyer, Mario Schwiede, Ralf Bill: On Distance Estimation based on Radio Propagation Models and Outlier Detection for Indoor Localization in Wireless Geosensor Networks The determination of a precise position in wireless geosensor networks requires the use of e.g. distance measurements. These distance observations derived by Received Signal Strength (RSS) measurements are inherently inaccurate. Furthermore, in general, the distance observations using RSS do not take obstacles into account. In this paper we present a new approach for indoor positioning to correct erroneous RSS measurements affected by obstacles. This technique is combined with the known “Anomaly Correction in Localization” (ACL) algorithm where sensor measurements are used to detect and eliminate outliers and therefore to improve the determined highly energy limited sensor node positions.

11:30 - 11:45	Matthias Schneider (presenting author), Ralf Salomon: Theoretical Analysis and Validation Experiments of the Localization-by-Superposing-Beats Procedure Many everyday life activities require precise localization information. Navigation by means of global positioning system (GPS) is a well-known example, but this localization method cannot be utilized in all application areas. Logistics, factory and laboratory automation, as well as warehouse management, for example, require a low-cost localization of various objects with precision of few centimetres, particularly in indoor environments. For this application domain, this paper proposes a new procedure, called the Localization-by-Superposing-Beats (LSB) Procedure, to measures the relative distance of a receiver between two points, i.e., the transmitters. The LSB procedure is based on the superposition of particularly parameterized beats, and is characterized by very low resources demands. This paper presents a description of the procedure, a preliminary theoretical analysis, as well as some laboratory experiments.

Oral Presentations (Poster Teasers)


11:45 - 11:47	Anthony Lo (presenting author, at TU Delft), Tim Bauge, Dave Harmer: A Cross-layer Design of an Anycast-based Routing Protocol for Fast Indoor Localization (Poster Teaser) This abstract presents a cross-layer design of an anycast routing protocol for Indoor Positioning Systems (IPSs). The main function of the IPS is to track the movement of individual emergency responders who carry out search and rescue operations in disaster zones. The proposed protocol is tightly coupled to the positioning application and the MAC protocols. In the next section, we present an overview of the IPS. Section 3 describes the design principles of the anycast-based routing protocol, and Section 4 evaluates the performance of the protocol. Finally, conclusions are drawn in Section 5.

11:47 - 11:49	Bo Peng (presenting author from WSP UK) and Andrew H. Kemp: The Impact of Location Errors on Geographic Routing in Realistic WSNs (Poster Teaser) In this paper, we study geographic routing under a more realistic WSN scenario, which considers both a realistic packet loss model and localization inaccuracy. Extensive analysis and simulation results provide an insight into the impact of the realistic environment on geographic routing and expose new findings and problems which have not been discovered or have been misunderstood in WSNs due to too simplistic and unrealistic network models.

11:49 - 11:51	Tewfiq el Maliki (presenting author), Jean-Marc Seigneur: Survivability of Mobile Sensor Network using Security Adaptation Reference Monitor (SARM) (Poster Teaser) Wireless Sensor Network (WSN) should be capable of fulfilling its mission in hostile milieu such as in sinkhole attacks environment. Moreover, one of the main challenges of Mobile WSN (MWSN) is to save the limited energy in order to ensure long lifespan of the network. Some protocols like MIX are working well when all sensors cooperate. Therefore, we have applied to MWSN our generic Security Adaptation Reference Monitor (SARM) that has been developed to deal with extremely dynamic security conditions. SARM is based on an autonomic computing security looped system, which fine-tunes security means based on the monitoring of the context including the user environment and energy consumption aspects. We evaluate SARM on top of MIX protocol in the context of MWSN under sinkhole attacks through a simulation tool. The results show that SARM is efficient in terms of overall network utilization and power consumption.

11:51 - 11:53	Luca Reggiani (presenting author), Roberto Morichetti: Hybrid active and passive localization for small targets (Poster Teaser) The abstract summarizes a particular approach we investigate for improving the trade-off between energy consumption and performance in localization tracking process. The scenario of application is common: a set of fixed beacons is used for tracking positions of one or more targets that are moving in a limited environment. The technology considered in the study is Ultra-wide band (UWB). The principle behind the proposed approach is relatively simple: tracking of a small target device in a limited indoor environment is realized by mixing active signal transmissions that allow using usual techniques for deriving distances and locations as well as passive signal receptions that exploit reflections caused by an object during signal propagation. The tracking process exploits the combination of these two types of transmissions with the advantage of possibly saving energy in the target device.

11:53 - 11:55	Patryk Mazurkiewicz (presenting author) and Kin K. Leung: Linear Antenna Array, Ranging and Accelerometer for 3D GPS-Less Localization of Wireless Sensors (Poster Teaser) 3D indoor localization of homogenous wireless sensors requires each sensor to be equipped in hardware that provides the measurement capability needed for localization. The hardware can provide various capabilities for measuring e.g. planar antenna arrays can provide angle-of-arrival (AOA) with azimuth and elevation, but linear antenna arrays provide AOA with elevation only. Throughout our research we design the localization algorithms for various hardware configurations and we investigate the trade-offs e.g. between the hardware complexity and the connectivity requirements for the sensor node to get localized. In this publication we present a localization algorithm which uses linear antenna array, ranging and earth gravity direction capabilities. Our results show that in the most favourable scenario a node with such hardware require as little as two neighbours (connectivity at least 2) in order to get localized, but generally three. In contrast, GPS-like methods which use ranging only require the availability of at least 4 neighbours (connectivity at least 4).

Wichtiger Hinweis:
Diese Website wird in älteren Versionen von Netscape ohne graphische Elemente dargestellt. Die Funktionalität der Website ist aber trotzdem gewährleistet. Wenn Sie diese Website regelmässig benutzen, empfehlen wir Ihnen, auf Ihrem Computer einen aktuellen Browser zu installieren. Weitere Informationen finden Sie auf
folgender Seite.

Important Note:
The content in this site is accessible to any browser or Internet device, however, some graphics will display correctly only in the newer versions of Netscape. To get the most out of our site we suggest you upgrade to a newer browser.
More information