horus: a wlan-based indoor location determination system moustafa youssef 2003 horushorus horushorus
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Horus: A WLAN-Based Indoor Location Determination
System
Moustafa Youssef2003
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Motivation
Ubiquitous computing is increasingly popular
Requires– Context information: location, time, …– Connectivity: 802.11b, Bluetooth, …
Location-aware applications– Location-sensitive billing– Tourist services– Asset tracking– E911– Security– …
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Location Determination Technologies GPS Cellular-based Ultrasonic-based: Active Bat Infrared-based: Active Badge Computer vision: Easy Living Physical proximity: Smart Floor Not suitable for indoor
– Does not work– Require specialized hardware– Scalability
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WLAN Location Determination Triangulate user location
– Reference point– Quantity proportional to distance
WLAN– Access points– Signal strength= f(distance)
Software based
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Roadmap
Motivation Location determination
technologies Introduction Noisy wireless channel Horus components Performance evaluation Conclusions and future work
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WLAN Location Determination (Cont’d)
Signal strength= f(distance) Does not follow free space loss Use lookup table Radio map Radio Map: signal strength characteristics at selected
locations
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WLAN Location Determination (Cont’d)
Offline phase– Build radio map– Radar system: average signal strength
Online phase– Get user location– Nearest location in signal strength space (Euclidian
distance)
(xi, yi)
(x, y)
[-53, -56]
[-50, -60]
[-58, -68]
5
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WLAN Location Determination Taxonomy
WLAN Location Determination Systems
Ad-hoc Mode Infrastructure Mode
Cell of Origin Time of ArrivalSignal Strength
Model-based Radio-map Based
Radar Horus
Daedalus [Li00]
[Lundberg02]
Classification
Example
Deterministic ProbabilisticWheremops
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Horus Goals
High accuracy– Wider range of applications
Energy efficiency– Energy constrained devices
Scalability– Number of supported users– Coverage area
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Contributions
Taxonomy of WLAN location determination systems
Modeling the signal strength distributions using parametric and non-parametric distributions
Handling correlation between successive samples from the same access point
Allowing continuous space estimation Clustering of radio map locations Handling small-scale variations Compare the performance of the Horus
system with other systems
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Roadio-map
Motivation Location determination
technologies Introduction Noisy wireless channel Horus components Performance evaluation Conclusions and future work
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Sampling Process
Active scanning–Send a probe
request–Receive a probe
responseChannel 2
Channel 1
...
1. Probe Request
2. Probe Response
3. Probe Request
4. Probe Response
Cha
nnel
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2n-1
. Pro
be R
eque
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. Pro
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Signal Strength Characteristics
Temporal variations– One access point– Multiple access points
Spatial variations– Large scale– Small scale
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Temporal Variations
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Temporal Variations
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-95 -85 -75 -65 -55
Average Signal Strength (dBm)
Nu
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Receiver Sensitivity
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Temporal Variations:Correlation
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Spatial Variations: Large-Scale
-65
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0 5 10 15 20 25 30 35 40 45 50 55
Distance (feet)
Sig
nal S
tren
gth
(dbm
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Spatial Variations: Small-Scale
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Roadio-map
Motivation Goals Introduction Noisy wireless channel Horus components Performance evaluation Conclusions and future work
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Testbeds
A.V. William’s– 4th floor, AVW– 224 feet by 85.1
feet– UMD net (Cisco
APs)– 21 APs (6 on avg.) – 172 locations– 5 feet apart– Windows XP Prof.
FLA– 3rd floor, 8400
Baltimore Ave– 39 feet by 118
feet– LinkSys/Cisco APs– 6 APs (4 on avg.)– 110 locations– 7 feet apart– Linux (kernel
2.5.7)Orinoco/Compaq cards
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Horus Components
Basic algorithm [Percom03] Correlation handler [InfoCom04] Continuous space estimator
[Under] Locations clustering [Percom03] Small-scale compensator
[WCNC03]
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x: Position vector s: Signal strength vector
– One entry for each access point s(x) is a stochastic process P[s(x), t]: probability of receiving s at x
at time t s(x) is a stationary process
– P[s(x)] is the histogram of signal strength at x
Basic Algorithm:Mathematical Formulation
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Basic Algorithm:Mathematical Formulation
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Argmaxx[P(x/s)]
Using Bayesian inversion– Argmaxx[P(s/x).P(x)/P(s)]
– Argmaxx[P(s/x).P(x)]
P(x): User history
Basic Algorithm:Mathematical Formulation
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Offline phase– Radio map: signal
strength histograms Online phase
– Bayesian based inference
Basic Algorithm
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WLAN Location Determination (Cont’d)
(xi, yi)
(x, y)-40 -60 -80
-40 -60 -80
[-53]
P(-53/L1)=0.55
P(-53/L2)=0.08
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Basic Algorithm: Signal Strength Distributions
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Basic Algorithm: Results
Accuracy of 5 feet 90% of the time
Slight advantage of parametric over non-parametric method– Smoothing of distribution shape
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Correlation Handler
Need to average multiple samples to increase accuracy
Independence assumption is wrong
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s(t+1)=.s(t)+(1- ).v(t) : correlation degree E[v(t)]=E[s(t)] Var[v(t)]= (1+ )/(1- ) Var[s(t)]
Correlation Handler:Autoregressive Model
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Correlation Handler: Averaging Process s(t+1)= .s(t)+(1- ).v(t) s ~ N(0, m) v ~ N(0, r) A=1/n (s1+s2+...+sn) E[A(t)]=E[s(t)]=0 Var[A(t)]= m2/n2 { [(1- n)/(1- )]2
+ n+ 1- 2 *(1- 2(n-1))/(1- 2) }
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Correlation Handler: Averaging
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Correlation Handler: Results
Independence assumption: performance degrades as n increases
Two factors affecting accuracy– Increasing n– Deviation from the actual distribution
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Enhance the discrete radio map space estimator
Two techniques– Center of mass of the top ranked
locations
– Time averaging window
Continuous Space Estimator
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Center of Mass: Results
N = 1 is the discrete-space estimator
Accuracy enhanced by more than 13%
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Time Averaging Window: Results
N = 1 is the discrete-space estimator
Accuracy enhanced by more than 24%
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Horus Components
Basic algorithm Correlation handler Continuous space estimator Small-scale compensator Locations clustering
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Small-scale Compensator
Multi-path effect Hard to capture by radio map
(size/time)
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Small-scale Compensator: Small-scale Variations
AP1 AP2
Variations up to 10 dBm in 3 inches Variations proportional to average
signal strength
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Small-scale Compensator:Perturbation Technique Detect small-scale variations
– Using previous user location Perturb signal strength vector
– (s1, s2, …, sn) (s1d1, s2d2, …, sndn) – Typically, n=3-4
di is chosen relative to the received signal strength
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Small-scale Compensator: Results
Perturbation technique is not sensitive to the number of APs perturbed
Better by more than 25%
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Horus Components
Basic algorithm Correlation handler Continuous space estimator Small-scale compensator Locations clustering
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Reduce computational requirements
Two techniques– Explicit– Implicit
Locations Clustering
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300
-95 -85 -75 -65 -55
Average Signal Strength (dBm)
Nu
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Co
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Receiver Sensitivity
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Locations Clustering: Explicit Clustering Use access points that cover each
location Use the q strongest access points
S=[-60, -45, -80, -86, -70]
S=[-45, -60, -70, -80, -86]
q=3
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Locations Clustering: Results- Explicit Clustering
An order of magnitude enhancement in avg. num. of oper. /location estimate
As q increases, accuracy slightly increases
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Locations Clustering: Implicit Clustering Use the access
points incrementally
Implicit multi-level clustering
S=[-60, -45, -80, -86, -70]
S=(-45, -60, -70, -80, -86)S=[-45, -60, -70, -80, -86]
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Locations Clustering: Results- Implicit Clustering
Avg. num. of oper. /location estimate better than explicit clustering
Accuracy increases with Threshold
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Horus Components
Discrete-SpaceEstimator
Continuous-SpaceEstimator
Small-ScaleCompensator
CorrelationHandlerClustering
CorrelationModeler
Radio Map Builder
RadioMapand
clusters
Ho
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yste
m C
om
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Location API
Applications
Signal Strength Acquisition API
Estimated Location
Device Driver
(MAC, Signal Strength)
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Roadio-map
Motivation Location Determination
technologies Introduction Noisy wireless channel Horus components Performance evaluation Conclusions and future work
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Horus-Radar Comparison
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Median Avg Stdev MaxHorus (all components) 1.28 1.38 0.95 4Horus (basic) 1.6 2.16 2.09 18.08Radar 9.74 13.15 10.71 57.67
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Training Time
15 seconds training time per location
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Radio map Spacing
Average distance error increase by as much as 100% (20 feet)
14 feet gives good accuracy
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Radar with Horus Techniques
Average distance error enhanced by more than 58%
Worst case error decreased by more than 76%
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Roadio-map
Motivation Location Determination
technologies Introduction Noisy wireless channel Horus components Performance evaluation Conclusions and future work
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Conclusions
The Horus system achieves its goals High accuracy
– Through a probabilistic location determination technique
– Smoothing signal strength distributions by Gaussian approximation
– Using a continuous-space estimator– Handling the high correlation between samples
from the same access point– The perturbation technique to handle small-scale
variations Low computational requirements
– Through the use of clustering techniques
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Conclusions (Cont’d)
Scalability in terms of the coverage area– Through the use of clustering techniques
Scalability in terms of the number of users– Through the distributed implementation
Training time of 15 seconds per location is enough to construct the radio-map
Radio map spacing of 14 feet Horus vs. Radar
– More accurate by more than 11 feet, on the average
– More than an order of magnitude savings in number of operations required per location estimate
Horus vs. Ekahau
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Conclusions (Cont’d)
Modules can be applied to other WLAN location determination systems– Correlation handling, continuous-space estimator,
clustering, and small-scale compensator Applied to Radar
– Average distance error enhanced by more than 58%
– Worst case error decreased by more than 76% Techniques presented thesis are applicable to
other RF-technologies– 802.11a, 802.11g, HiperLAN, and BlueTooth, …
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Future Work
Using the user history in location estimation and clustering
Dynamically change the system parameters based on the environment
Experimenting with other continuous distributions
Optimal placement of access point to obtain the best accuracy
Techniques to ensure user privacy
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Future Work (Cont’d)
Different clustering techniques Automating the radio-map
generation process Changing the radio map based on
the environment Effect of adding/removing access
points Designing and developing
applications and services Handling difference between
different manufactures