localization · gps-denied localization •gnss works when we have access to four or more...
TRANSCRIPT
![Page 1: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/1.jpg)
Localization
Mahesh K. Banavar and Kevin Mack
CoSiNe Lab
Dept of ECE
Clarkson University
cosine.clarkson.edu
![Page 2: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/2.jpg)
Questions to Ponder
• Who am I?
cosine.clarkson.edu
• What am I?
• Where am I?
![Page 3: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/3.jpg)
Problems at Hand
• FCC report1: 90% of E911 calls have localization error greater than 100 meters – Over 56% of 911 calls made from indoor locations
– Wrong location could put the caller in different rooms or even different floors
• Consider other problems – Emergency responders in a disaster area – no
infrastructure
– Navigation in malls/hospitals/schools
1Working Group 3, “E9-1-1 Location Accuracy: Indoor localization test bed report,” The Communications Security, Reliability and Interoperability Council, March, 2013.
cosine.clarkson.edu
![Page 4: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/4.jpg)
How is localization done?
Three modes used in general: • Range based
– Compute the distance between the target and reference points
• Angle based – Find the direction in which the target is with respect
to the reference point – Modes: DOA (AOA) – Applications: Triangulation, array-based systems,
humans!
• Hybrid
cosine.clarkson.edu
![Page 5: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/5.jpg)
Range-based Localization
• We want to find the target:
cosine.clarkson.edu
Use multilateration (circle drawing) to find the target
Compute the distance between the target and the anchors
Select points of reference (anchors)
![Page 6: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/6.jpg)
Range-based Localization
• Modes: – RSSI: Received signal strength indication
• Uses power loss to estimate distance (Bluetooth localization; we will see later)
– TOA: Time of arrival • Computes the time of propagation between the
transmitter and receiver (GPS; we will see later)
– TDOA: Time difference of arrival • Computes the difference between two recorded times
(Android Acoustic Ranging; we will see later)
cosine.clarkson.edu
![Page 7: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/7.jpg)
Range-based Localization
• Applications:
– Most localization and ranging methods:
– GPS: uses TOA
– RADAR: uses radio waves and time of flight (TDOA)
– SONAR: uses sounds waves and time of flight
• Think bats, dolphins, submarines
cosine.clarkson.edu
![Page 8: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/8.jpg)
Angle-based localization
• To find the target:
cosine.clarkson.edu
Select reference points
Find directions to target
Use triangulation to find target
![Page 9: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/9.jpg)
Angle-based Localization
• Mode:
– Direction of Arrival (also called Angle of Arrival)
• Uses arrays to find the direction to the target
• Applications
– Localization with array-based hardware
• RF antenna arrays
• Microphone arrays
cosine.clarkson.edu
![Page 10: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/10.jpg)
What if measurements are not accurate?
• Consider range-based localization
cosine.clarkson.edu
Noisy measurements lead to circles not intersecting at a point
Find the centroid of the area formed
Matrix representation possible
![Page 11: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/11.jpg)
GPS
• Global Positioning System
• One of many GNSS (global navigation satellite systems): – US: NAVSTAR GPS
– Russia: GLONASS (Globalnaya navigatsionnaya sputnikovaya sistema)
– EU: Galileo
• Other satellite navigation systems (limited coverage): – Indian subcontinent: GAGAN (GPS Aided GEO Augmented
Navigation)
– China: BeiDou
cosine.clarkson.edu
![Page 12: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/12.jpg)
Satellite System
• Satellites form reference points (anchors)
• 15-30 satellites in MEO (medium earth orbit):
• https://upload.wikimedia.org/wikipedia/commons/b/b4/Comparison_satellite_navigation_orbits.svg
cosine.clarkson.edu
![Page 13: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/13.jpg)
Calculation Steps
• A global-navigation-satellite-system (GNSS) receiver measures the apparent transmitting time from 4 or more satellites
• GNSS satellites broadcast the messages of satellites' ephemeris
• Transmitting time and the satellite location and velocity are calculated
• Range to target is estimated (based on transmit and receive time)
• Atmospheric is corrected for (some of it at least!) • Matrix problem is solved • Distribution of the location is estimated (estimate
perturbed by errors)
cosine.clarkson.edu
![Page 14: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/14.jpg)
Number of Satellites
• We need at least 4 satellites
• How to guarantee this?
cosine.clarkson.edu
By Paulsava, CC BY-SA 4.0, https://commons.wikimedia.org/w/index.php?curid=47210072
![Page 15: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/15.jpg)
GPS-Denied Localization
• GNSS works when we have access to four or more satellites in direct line of sight (LOS)
• Indoors, under forest canopies, and in urban canyons, we do not always have this
• What options do we have in such scenarios?
• Localization needs to be done with anchors in buildings
• But there are other problems as well
cosine.clarkson.edu
![Page 16: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/16.jpg)
The big problem - Multipath
• When we have walls, furniture, people, signals reflect off these objects and multiple copies reach the receiver
• Several copies of the
signal are received,
each staggered by a
different delay
cosine.clarkson.edu
![Page 17: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/17.jpg)
Effect of Multipath
cosine.clarkson.edu
![Page 18: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/18.jpg)
Our Solutions
• Audio – Android Acoustic Ranging
– Reflections App
• BT – RSSI-based ranging
• Testbeds – We have an Android testbed for each
– We will play with the Bluetooth solution next week
cosine.clarkson.edu
![Page 19: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/19.jpg)
Bluetooth-based ranging
• We use received power to estimate distances
• This method is called RSSI – received signal strength indicator
cosine.clarkson.edu
𝑃 𝑊 = 𝛼𝑑−𝐺
![Page 20: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/20.jpg)
Calibration
• Each anchor must act as a transmitter to all other anchors • Establish mean power between anchors • Calculate distance between each pair of anchors
cosine.clarkson.edu
log10 𝑃 𝑊 = −𝐺 log10(𝑑) + log10( 𝛼)
![Page 21: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/21.jpg)
Localization
• Each anchor has its own G and a values
• Each anchor estimates distance to target(s)
• Least squares algorithm used for multilateration
• Algorithm requires 3 or more anchors of known relative position
cosine.clarkson.edu
![Page 22: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/22.jpg)
Android Acoustic Ranging
cosine.clarkson.edu
![Page 23: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/23.jpg)
Acoustic Ranging Tests
• 48 kHz sampling rate = 0.7 cm distance resolution
• Indoor
– Accuracy with a variance less than 0.1 cm up to 4.5 m
• Outdoor
– Accuracy up to 50 meters
cosine.clarkson.edu
![Page 24: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/24.jpg)
Extension Problems
• Some solutions for indoor localization – Sequential (multi-hop)
– Using auxiliary information • Comparisons
• Multimodal
• With the data collected, what can we do? – Room characterization
– Object detection and identification
– Room shape estimation
– Continuous authentication
cosine.clarkson.edu
![Page 25: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/25.jpg)
Sequential Localization
cosine.clarkson.edu
• Exploits the fact that channel effects are limited in short range
• The anchors in the blue shaded area were used to localize the green triangular nodes
• The combination of anchors and previously localized nodes in the purple shaded area are being used to localize nodes in unknown locations
• Other anchors in the network can be used to correct localization errors.
• Blue circular nodes are anchors •Green triangle nodes are at
previously estimated locations • Purple hexagonal nodes are at
unknown locations
![Page 26: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/26.jpg)
Sequential Localization (2)
cosine.clarkson.edu
![Page 27: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/27.jpg)
Localization with Ordinal Distance Measurements
• Consider a set of anchor sensors, 𝓐
• A set of sensors at unknown positions, 𝓤
• Let 𝓤 ≫ 𝓐
• All sensors are on a two-dimensional plane
• The position of each sensor: 𝐱𝑙 = 𝑥𝑙 𝑦𝑙
𝑇 , ∀𝑙 ∈ 𝓐 ∪𝓤.
cosine.clarkson.edu
![Page 28: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/28.jpg)
Preliminary results
No assumptions on anchor locations
Anchor locations known; sensor field rotated and scaled
cosine.clarkson.edu
Anchors are in green – crosses are actual locations and circles, after localization. Actual node locations are blue crosses and estimated locations are red circles
![Page 29: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/29.jpg)
Room Characterization (Audio)
• Question to answer: Can we determine the characteristics of a room using audio reflections from a room?
• Using the Reflections app, data is collected from several rooms
• The clustering results suggest that an accurate K-means clustering may be performed.
cosine.clarkson.edu
![Page 30: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/30.jpg)
Object Detection and Classification (Audio)
• Measured data gives us distance to objects
• Can we also determine the type of object?
• Applications: Low visibility assistance
• Reflected strength and reflected impulse response can be used to determine the type of object encountered by the sound signal
cosine.clarkson.edu
![Page 31: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/31.jpg)
Room Shape Estimation • Consider an environment
(such as in the Figure) with n Bluetooth sources and m receivers
• Based on the received Bluetooth signal we can: – Estimate if the signal is
coming from inside the room or outside based on variance
– Estimate the distance to the Bluetooth source – make adjustment for wall if necessary
• Use distance information to build a Euclidean Distance Matrix
cosine.clarkson.edu
Transmitter
Receiver
Wall
![Page 32: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/32.jpg)
Wall Estimation Algorithm1
• Use multilateration to estimate location of source
• “Build” walls normal to lines joining each receiver with the source
• Select an “average” wall
• Repeat with each source
• “Construct” room
cosine.clarkson.edu
Individual walls
Wall estimate
1I. Dokmanić, R. Parhizkar, A. Walther, Y.M. Lu, M. Vetterli, “Acoustic echoes reveal room shape,” PNAS, vol. 110, no. 30, pp. 12186-12191, 2013.
![Page 33: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/33.jpg)
Continuous Authentication
• Static, one-time authentication is weak (e.g. password, pattern)
• Software flaws can allow bypassing of the lock screen
• Device remains vulnerable once unlocked
• Continuous authentication provides a method of ensuring user identity during use
• Valid user identity is critical in high security and high risk environments
cosine.clarkson.edu
![Page 34: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/34.jpg)
Continuous identity verification
• Continuously collect user gestures, keystrokes and other usage information
• Utilize machine learning to compile user data into unique profile
• Verify user profile at regular intervals with most recent behavioral metrics
• Periodically update user profile to account for habituation as user touch habits change
cosine.clarkson.edu
![Page 35: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/35.jpg)
Sample Activities
• Ideally, we track user behavior as they perform usual tasks
• Due to lack of (OS) permissions, we break down activities
– Shape tracing
– Image finding in a gallery
– Localization
– Typing patterns
cosine.clarkson.edu
![Page 36: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/36.jpg)
Preliminary Data Processing
• Collect user behavior from each activity
• Extract features from user data
• Feature selection and user profiling
• Key question:
– How long does it take to detect an unauthorized user?
cosine.clarkson.edu
![Page 37: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/37.jpg)
Current Research Areas
cosine.clarkson.edu
Localization
MDS-based Sequential
Testbed
Audio-based
Bluetooth-based
Room Characterization
Object detection and
classification
Room Shape Estimation
Continuous Authentication
Core problems
Data-driven problems
![Page 38: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/38.jpg)
Acknowledgements
• Students – Kevin Mack – Tianqi Yang – Bobby Newman – Lenoi Carter – Benjamin Robistow
• National Science Foundation – CRII – DUE
• Qualcomm Inc
cosine.clarkson.edu
![Page 39: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/39.jpg)
Download our app!
cosine.clarkson.edu
![Page 40: Localization · GPS-Denied Localization •GNSS works when we have access to four or more satellites in direct line of sight (LOS) •Indoors, under forest canopies, and in urban](https://reader034.vdocument.in/reader034/viewer/2022050201/5f555c0196e43612eb59528c/html5/thumbnails/40.jpg)
Contact
Mahesh K. Banavar
Department of ECE
Clarkson University
Potsdam NY 13676
http://adweb.clarkson.edu/~mbanavar
cosine.clarkson.edu