diploma thesis inaugural lecture: sensor-driven indoor-localization/-navigation

Stephan Linzner & Daniel Kersting

Diploma Thesis Inaugural Lecture

Who we are

Stephan Linzner

Student, fifth year

major in computer

science at University

Tübingen

onlythoughtworks@googlemail.com

http://twitter.com/onlythoughtwork

Daniel Kersting

Student, fifth year

major in computer

science at University

Tübingen

drewenut@googlemail.com

http://twitter.com/drewenut

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS 2

Lost Indoors

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS 3

Lost Indoors…

Shopping center Product search

CBR (Consumer Based Routing)

IBR (Interest Based Routing)

Museums Family quiz, navitainment

Fairs i.e. CEBIT

Car park, airport, subway, concert hall, sewerages

Emergency evacuation and guidance service Fire, earthquake, terror attacks

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS 4

Motivation

Common outdoor navigation systems

are freely available today.

GPS is based on satellite networks and

can therefore only be used outdoors.

Today there is no ubiquitous localization

and navigation system for confined

spaces.

20 million sensor powered handsets

sold in 2008.

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS 5

Key questions

What are use cases to be handled?

How to create a data model of confined spaces?

Which (sensor) data is required?

Where could that data come from?

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS 6

Objectives of our work (1)

Evaluate methods and practices to realize a real-time sensor-driven indoor positioning system (SD-IPS) for mobile handsets.

Develop innovative approaches for mapping the most common characteristics of outdoor navigation systems to indoor application scenarios and expand them by dedicated confined spaces requirements.

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS 7

Objectives of our work (2)

Create an Android based application framework to easily build sensor-driven indoor positioning applications. Rely as much as possible on standard handset

hardware and not heavily depend on environment infrastructure.

Keep a lightweight design approach for concepts and the resulting framework.

Deliver augmented reality end user experience to make peoples indoor lifeseasier.

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS 8

Framework objectives

Lightweight design

Portable (iPhone, Symbian OS, RIM)

Blackboxed

Focused on data providing

Data representation

SD-IPS API

Not a GUI framework

No data visualization

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS 9

Initial schedule

June 2009 – dig through sources Android

Kernel

Drivers

Libraries (Zxing)

July/August 2009 – try and research Test and evaluate the sensors

Localization by 2D codes

Explore possibilities (WLAN, Bluetooth…)

Build the first prototypes

September/October 2009 – implement framework

November 2009 – elaboration

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS 10

What is Android?

Mobile operating system

Linux kernel version 2.6.x

Middleware

Application framework

11Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS

Why Android?

Open

All applications are created equal

Breaking down application boundaries

Fast & easy application development

12Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS

13Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS

14Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS

Rooted Android Developer Handset

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS 15

Android Developer Handset Sensors

Accelerometer

Gyroscope

Compass (Magnetic Field)

Camera (Imaging, scanning 2D-Barcodes)

GPS

Radio Network

WLAN

Bluetooth

Audio (Microphone)

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS 16

Inertial Navigation Set (IRBM S3)

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS 17

6-axis electronic compass (G1)

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS 18

Asahi Kasei Microsystems

(AKM) AK8976A

Technologies vs. Techniques (1)

Ambient technologies

WLAN

○ Trilateration

○ Time of arrival (ToA)

○ Received signal strength (RSSI)

Bluetooth

○ Received signal strength (RSSI)

Audio

○ Echo

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS 19

Technologies vs. Techniques (2)

Optical technologies Camera

○ Visual detection

○ Augmented reality

○ 2D Barcodes Data Matrix

QR-Codes

Microelectromechanical technologies Sensors

○ Accelerometer

○ Gyroscope

○ Magnetic Field

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS 20

Localization/Positioning Techniques

No infrastructure No additional hardware needed

Infrastructure Based Environmental hardware needed

Marker based localization Fixed synchronization points

Inertial navigation

Dead reckoning

Continuous localization Real-time position tracking

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS 21

Localization/Positioning

Techniques (2)

Infrastructure No Infrastructure

Marker based • Wlan

• Bluetooth

• Audio

• Camera

Continuous • Wlan

• Bluetooth

• Audio

• Bluetooth

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS 22

Navigation Techniques

Inertial Navigation

Accelerometer

Gyroscope

Compass (Magnetic field)

Dead reckoning (DR)

Process of estimating one's current position

based upon a previously determined position

Estimate position by speeds over elapsed time

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS 23

Accelerometer/* x<0 x>0

* ^

* |

* +-----------+--> y>0

* | |

* | |

* | |

* | | / z<0

* | | /

* | | /

* O-----------+/

* |[] [ ] []/

* +----------/+ y<0

* /

* /

* |/ z>0 (toward the sky)

*

* O: Origin (x=0,y=0,z=0)

*/

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS 24

Gyroscope Z-Rotation

25Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS

Gyroscope X-Rotation

26Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS

Gyroscope Y-Rotation

27Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS

Responsibilities

Localization

Framework design

Domain modeling

Reusability

Navigation

Framework design

Platform independency

Portability

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS 28

Stephan Linzner Daniel Kersting

Summary

Comprehensive exploration of the Android operating system and the SDK.

Requires solid Java and C knowledge

Identify indoor localization and navigation key concepts.

Implement the most promising solution, which delivers the best trade of between accuracy, efficiency and usability, for the desired scenarios in a conceptual framework.

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS 29

Future Prospects (1)

Visualization framework

Augmented reality framework

Wikitude:

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS 30

Future Prospects (2)

Routing algorithms

Consumer based routing (CBR)

Interest based routing (IBR)

Proximity based applications

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS 31

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Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS 32