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Indoor Positioning

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									Indoor Positioning

               Kalid Azad
   Advisor: Prof. Littman (MAE dept)
        Co-advisor: Prof. Cook
        Cs398 Project Proposal
Problem Description
   What is indoor positioning?
       Find your location accurately indoors (like
        GPS)
   Why is it important?
       Unsolved problem
       Indoor robots, underground surveying,
        detailed maps/directions…
Why is it hard?
   GPS doesn’t work indoors! No line of sight…
       No obvious alternative
       Previous approaches: Psuedo-GPS, IR signal strength, RF,
        ultrasonic/acoustic…
   Indoor radio propagation not well studied
       Reflection, absorption from obstacles
       Walls/windows/doors have different delays
   Cost! No $100,000 atomic clocks allowed.
       Light travels ~ 1 ft/ns
       Hard to measure propagation delays w/o good clocks
   Resolution
       Want ~ 1 ft resolution (not room-level granularity)
Approaches
   My approach: use phase differences
       Multiple transmitters send sine waves
       Receiver notes relative phase differences
       Calculates how many wavelengths away
        from transmitter
       Receiver solves for its position
            Or, transmit data to central server, which
             calculates position and sends it back (via
             wireless network)
My Approach



                       T2
                 T1




                            1 wavelength
 = Possible location
My Approach
   Advantages
       No atomic clock/synchronization, works on
        RF, good resolution, phase easy to detect
   Done before?
       On google, only found 1 paper describing
        use of phase differences
            Not done in hardware
Methodology, milestones, and
deliverables
   Steps
       Extensive survey of current technology
       Create a method
            Develop algorithm, order hardware
       Develop software
            Proof-of-principle
            Web-based, GUI
       Implement in hardware
Methodology, milestones, and
deliverables
   By checkpoint (~1 month)
       Thoroughly examined existing technology
       Created algorithm
       Ordered hardware
       Begin coding software
   Deliverables
       Report
       Detailed description of algorithm
       Hardware Requirements
       Portion of software implementing algorithm
Methodology, milestones, and
deliverables
   Remaining steps for semester
       Implement algorithm in hardware
       If possible, use on a vehicle
   Deliverables by end of semester
       Detailed algorithm
       Software implementation
       Hardware implementation
Methodology, milestones, and
deliverables
   Difficulties
       A good algorithm is…
            Cost-effective, precise, easy to implement,
             without atomic clocks/synchronization, robust…
       Getting hardware to work properly
            No specialized hardware for my algorithm
       Method may not be as precise as planned
Methodology, milestones, and
deliverables
   Fall-back plan
       Explain what I found with my algorithm
            Benefits, drawbacks, tradeoffs
       Measure position with the precision I can
            Find limitations, sources of errors, effect of
             various obstacles (walls, doors, windows)
       If it doesn’t work…
            Document what doesn’t work, and why
            Lesson for others =)

								
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