Stephan Linzner & Daniel Kersting
Diploma Thesis Inaugural Lecture
Who we are
Stephan Linzner
Student, fifth year
major in computer
science at University
Tübingen
http://twitter.com/onlythoughtwork
Daniel Kersting
Student, fifth year
major in computer
science at University
Tübingen
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
Follow our diploma thesis
http://twitter.com/androidthesis
http://friendfeed.com/androidthesis
http://www.youtube.com/user/androidthesis
http://www.scribd.com/androidthesis
Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS 32