deploying a 3d locator system based on a wireless sensor
TRANSCRIPT
ALCYONESYSTEMS
Frank MoreseFounder/Chairman
SensNav™ 3D Locator SystemAlcyone Systems, LLC
http://www.alcyonesystems.com
Deploying a 3D Locator System based on a
Wireless Sensor Network Architecture
ALCYONESYSTEMS
Problem Statement• Lack of Situational Awareness
– Incident Commander & First Responder
• Lack of Real Time Monitoring– Search & Rescue Missions
• Navigational Blackouts– In Buildings, Structures, Cities & Canyons
• Poor Interoperability Between Agencies
ALCYONESYSTEMS
First Responder Network Needs
• System needs to scale to over 200+ nodes
• Capability to locate citizens in a search & rescue situation
• Solutions must require no infrastructure
• Radios must be robust in harsh environments
• Need for fast deployable reconfigurable networks
• Solution must integrate seamlessly in existing networks
• System needs to adapt to various application requirements
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Network Issues
• First responders often cluster
• Direct path to Incident Commander is likely not possible
– Must count on many hops and indirect paths to get there
• Must have sufficient connectivity for navigation & localization purposes
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Network Issues (cont.)
• Conditions will vary widely– Number of players
– Distribution of players
– Network connectivity
• Large networks are real possibility– Must protect against traffic overload
• Must guard against RF flooding– Too many transmissions in our fixed bandwidth could lead to a
serious degradation in RF performance
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Wireless Sensor Network Characteristics
• Number of nodes > 200+• Density of nodes (Clusters)• Pattern of node deployment• Radio Front End Architecture • Number of hops in the network• Traffic pattern• Limited Bandwidth
– Data generation rate, etc
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Multi-Sensor Data Fusion
• To overcome sensor failures, technological limitations, spatial, and temporal coverage problems, three properties must be ensured:
– Cooperation
– Redundancy
– Complementary
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SensNav™
Fusion Technology• SensNav™ Fusion
Schemes– Complementary
• Sources S1 and S2 provide different pieces of information, a and b, respectively, that are fused to achieve a broader information, denoted by (a+b)
– Redundant• Sources S2 & S3 provide the same
information, b, which is fused to obtain more accurate information, (b).
– Cooperative• Sources S4 and S5, provide
different information, c and c', that are fused into (c), which better describes the scene compared to c and c' individually.
(a + b)
ComplementaryFusion
B
(b) (c)
RedundantFusion
CooperativeFusion
S1 S2 S3 S4 S5
A C
a bb c'c
FusedInformation
InformationFusion
Sources
Information
Types of information fusion based on the relationship among the sources
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SensNav™
Distributed Algorithm• Does not require any calibration
• Does not require an infrastructure of accurate clocks (e.g., GPS)
• Each node’s clock is assumed to run reliably but asynchronously with respect to the other nodes– i.e., they can run at slightly different rates because of hardware (oscillator)
inaccuracies.
• Provides a mathematical way to compensate for these clock differences in order to arrive at a very precise timestamp recovery that in turn leads to a precise distance determination.
• Each node is able to determine the clock characteristics of other nodes in its neighborhood allowing network synchronization.
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SensNav™
High Performance WSN Platform• Multi-band/multi-radio
– Enables high interference tolerance
– Low latency
– High mesh-networking performance
• High tolerance against link errors can be achieved by transmitting redundant data in different routes and frequency channels.
• Drastically reduces hop delay due to data buffering and channel access delays.
ALCYONESYSTEMS
SensNav™
WSN Architecture• Our technology uses a hybrid approach combining
the attributes of a:
– High Performance wireless sensor network topology
– Wireless Ad-hoc reconfigurable cluster network
– Wireless local area network
• Architecture integrates these networks with
proprietary optimized algorithms and protocols
• SensNav™ utilizes a robust intra & inter cluster
communications network.
• SensNav™ has a novel (patent pending) approach
to the effective fusion of navigation and sensor data
without requiring the existence of a specific sensor
suite.
= Border Nodes (Intra- & Inter-links)
= Cluster Node (Intra-links only)
= Orphan node (Inter-link only)
PseudoliteInter-link
Inter-Cluster “Local-Area”
Link
Intra-Cluster “Personal Area”
Link
= Pseudolite (Inter-link only)
Networked Cluster
= Incident Command Post- Base Station
Long-Haul Links(High Power Links) to IC Base Station
Via Pseudolites
Direct Cluster to IC Base
Station “Local-Area” Link
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SensNav™
Personal 3D Locator System Architecture• SensNav™ uses multiple sensors, subsystems, &
algorithms to determine the location of the tracked personnel.
• Personal Locator architecture design comprises of:– Modular multi-sensor software stacks
– High performance embedded processor
– High performance fusion engine
– RF ranging module
– GPS receiver module
– Inertial navigation module
• Data from each subsystem is fused onboard the Personal Locator & Locator Command Station.
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SensNav™
RCLAD Sensor Technology• High resolution Thru-Wall Sensing
• Multiple beams for rapid scanning
• Detects via biometric signatures
– posture sway, respiration & heart beat
• Utility for First Responders
Remote Casualty Location Assessment Device (RCLAD)
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SensNav™
Observations• Cluster communication is localized
– Minimal interference to remote clusters
• Traffic is aggregated at single node within cluster– Minimizes network traffic to avoid congestion
• Sensor Data fusion can be done within the cluster – When navigation demands links outside the cluster, these can be
dynamically formed
• Since traffic is aggregated, most nodes rarely use the higher power network/ranging
• Ability to reroute when links are lost
ALCYONESYSTEMS
SensNav™
WSN Advantages• Our novel approach integrates the navigational sensors with a
Cluster based Wireless Sensor Network
• Topology is continuously changing, self-adapting to the connectivity and propagation conditions and to the traffic and user mobility patterns.
• The topology provides reliable and uninterruptible communication in harsh propagation conditions.
• Architecture is scalable to handle from small clusters to very large deployment of over 200 nodes with many clusters and vehicles.
• Lower power transmission for intra-cluster communications
– System guards against RF flooding