CSI 5169 --- Wireless Networks and Mobile Computing

Indoor Localization

Zhang Zhang
zhangzhang@uottawa.ca

Outline
Introduction
Definition
Important parameters
Indoor Localization Methods
Proximity Detection
Triangulation
Scene Analysis
Indoor Localization Systems
Proximity Based
RF Based
Cameras Based
Comparison of Common Indoor Localization
Systems

Introduction - Defination
Def. Wirelessly locate objects or people inside a building in
real time.
Indoor Positioning Systems (IPS)
Real-time Locating Systems (RTLS)

Introduction - Important Parameters

Accuracy
Coverage
Availability
Update Rate
Line of Sight (LoS) and Non Line of Sight
(NLoS)
Costs and System Complexity

Introduction - LoS / NLoS

Line of Sight (LoS) and Non Line of Sight (NLoS)

Indoor Localization Methods / Algorithm

Methods/Algorith
m

Proximity / CoO

Direction based

Angle based

Triangulation

Scene Analysis

Distance based

Time based

Signal Property
based

Methods / Algorithm - Proximity / Cell of Origan

Proximity Detection: Sensors detect and measure reflected
Infrared or
visiable light or RF wave to detect
the presence of
an object or person in certain
areas.
Highest Received Signal Strength = Highest Probability

Methods / Algorithm - Proximity / Cell of Origan

Advantages
No complicated algorithms
Easy to implement
Low cost
Disadvantages
Low accuracy - room level
Identification problem

Methods / Algorithm - Time based

ToA: Time of Arrival
The precise measurement of the arrival time of a signal
transmitted
from a mobile device to several receiving sensors.
The distance between the mobile device and each
receiving sensor
can be determined.

Methods / Algorithm - Time based - ToA

Advantages
High Accuracy
2D / 3D
Disadvantages
Precise time synchronization (1 micro-second, 300m
error)
Solutions are typically challenged in environments
where a
large amount of multipath or interference may exist.

Methods / Algorithm - Time based - TDoA

TDoA: Time Difference of Arrival
Using relative Arrival time measurements at each
receiving sensor
The synchronization between tag and each sensor is not
necessary
Example:
TXC - TXA = 10-8s
TDoAC_A
TXB - TXA = 10-7s
TDoAB_A

Methods / Algorithm - Angle based - AoA

AoA/DoA: Angle of Arrival / Direction of Arrival (DoA)
Determining the angle of incidence at which signals arrive at
the receiving sensor.

Methods / Algorithm - Angle based - AoA

More sensors = Higher accuracy

Methods / Algorithm - Angle based - AoA

Advantages
No synchronization requirement
Works well in situations with direct line of sight

Disadvantages
Susceptibility to multipath interference

Methods / Algorithm - Signal Property Based

Signal attenuation can be exploited for distance estimation.

Methods / Algorithm - Signal Property Based

RSS: Based on the attenuation model, the Received Signal
Strength can be used to estimate the distanced of a person
or a mobile object.

PR: Received signal strength at the receiver

PT: Transmitted power strength at the emitter
GT GR: Antenna gains of transmitter and receiver
d: Distance
P: The path loss factor

Methods / Algorithm - Signal Property Based

The path loss factor (P) is related to the environmental

conditions
P = 2 for free space
P > 2 for environments with NLoS multipath
P (4 - 6) for typical indoor environments
In real world application, interference, multipath
propagation and presence of obstacles and people leads
to a complex spatial distribution of RSS.

RSS Indicator (RSSI): averaged PR over a certain sampling perio

Methods / Algorithm - Fingerprinting

Off-Line
Database

S1
S2
S3
...
S72

Methods / Algorithm - Fingerprinting

M(-35, -50, -48, -60, -58,-24) vs. Database

Methods / Algorithm - Fingerprinting

Advantages
High accuracy
NLoS
Disadvantages
Complicated algorithms
Not easy to implement
High cost

Indoor Localization Systems

Indoor Localization Systems - WIFI

WIFI: (a superset of IEEE 802.11 standard) can be used to
estimate
the location of a mobile device within this
network.
WIFI
Range

50-100m

Accuracy

1m

Method

RSSI Fingerprinting
, TDoA

NLOS/LOS

NLOS

Application

Office Space,
Person, Objects

Indoor Localization Systems - RFID

RFID (Radio Frequency IDentification) system consists
of readers with antennas which interrogates nearby
active transceivers or passive tags.
RFID

Active

Passive

Range

10-100m

1-5m

Accuracy

1m

0.2m

Method

RSSI
Fingerprinting,
TDoA

AoA, TDoA

NLOS/LOS

NLOS

LOS

Application

Moving Objects

Assembly Industry

Indoor Localization Systems - ZigBee

ZigBee is a wireless technology particularly designed for
applications which demand low power consumption and
low data transmission.
ZigBee
Range

20-30m

Accuracy

2m

Method

RSSI

NLOS/LOS

NLOS

Application

Warehouse
management

Indoor Localization Systems - Cameras

Images
Cameras

Cameras
Database
Database Virtual
Map

Power
NLoS/Lo
Consum
s
e

Systems

Accura
cy

Covera
ge

Methods

GPS

10-50m

Poor
Indoor

ToA

NLoS

Proximity

3-5m

Room
level

Proximity

Cameras
Networks

0.5m

Building
level

1m

RFID
(Active)
RFID
(Passive)

WIFI

Bluetooth

ZigBee

Cost

Remark
s

High

High

Unstable

LoS

Low

Low

ID?

Scene
Analysis

LoS

Low

High

ID?

Building
level

RSSI
Fingerprintin
g
/TDoA

NLoS

High

High

WIFI
Covered

1m

Building
level

RSSI
Fingerprintin
g

NLoS

Med

Med

Long
Distance

0.2m

Room
level

TDoA/ AoA

LoS

Low

Low

No Data
Exchange

1-2m

Building
level

RSSI
Fingerprintin
g

NLoS

Low

Med

High
Data
Rate

2m

Building
level

RSSI
Fingerprintin
g

NLoS

Low

Low

Low Data
Rate

References
[1] Z. Farid, R. Nordin, and M. Ismail, "Recent Advances in Wireless Indoor
Localization Techniques and Systems," Journal of Computer Networks and
Communications, vol. 2013, 2013.
[2] R. Mautz, "Indoor positioning technologies," Habilitation Thesis, Department of
Civil, Environmental and Geomatic Engineering, Institute of Geodesy and
Photogrammetry, Habil. ETH Zrich, Zurich, 2012.
[3] H. Koyuncu and S. H. Yang, "A survey of indoor positioning and object locating
systems," IJCSNS International Journal of Computer Science and Network Security,
vol. 10, pp. 121-128, 2010.
[4] A. Aboodi andW. Tat-Chee, Evaluation ofWiFi-based indoor (WBI) positioning
algorithm, in Proceedings of the 3rd FTRA International Conference on Mobile,
Ubiquitous, and Intelligent Computing (MUSIC 12), pp. 260264, June 2012.
[5] S. Chan and G. Sohn, Indoor localization using Wi-Fi based fingerprinting and
trilateration techiques for LBS applications, in Proceedings of the 7th International
Conference on 3D Geoinformation, Quebec, Canada, May 2012.

Question 1
The RSSI pattern is shown below.
3 Wifi routers
9 refernces points
Q: Where is M(1.2, 2.6, 4.5) in this pattern?

5
2

5
1

2
4

1
2

3
4

3
5

Question 1
Q: Where is M(1.2, 2.6, 4.5) in this pattern?
A: Measured RSSI of Wifi one is 1.2.
Red zone (referenced RSSI of Wifi one is 1) are possible locations.

1
5
2

5
1

2
4

1
2

3
4

3
5

Question 1
Q: Where is M(1.2, 2.6, 4.5) in this pattern?
A: Measured RSSI of Wifi two is 2.6.
Green zone (referenced RSSI of Wifi two is 3) are possible locations.

1
5
2

5
1

2
4

1
2

3
4

3
5

Question 1
Q: Where is M(1.2, 2.6, 4.5) in this pattern?
A: Measured RSSI of Wifi three is 4.5.
Blue zone (referenced RSSI of Wifi two is 5) are possible locations.
The intersection of three zones is the location of M.

1
5
2

5
1

2
4

1
2

3
4

3
5

Question 2
The RSSI pattern is shown above.
3 Wifi routers
9 refernces points
Q: Where is M(5, 2, 1) in this pattern?
Is there any methods to increase the acceracy by optimizeing the
system?
1

5
2

5
1

2
4

1
2

2
1

3
4

3
5

Question 2
Q: Is there any methods to increase the acceracy of this system?
A: More Wifi routers, more reference points.

1
1
2

3
4

2
4

Question 3
A company with 3 buildings.

Building A: Working Office (Wifi coverd)

Building B: Assembly lines
Building C: Warehouse
Q: Building A: Locating persons + high rate data transmission
Building B: Accurate positioning products + no data transmission
Building C: Locating forklifts + low rate data transmission
Which indoor localization system will you choose for Building A,
Building B,
Building C, respectively? why?

Question 3
A company with 3 buildings.
Building A: Working Office (Wifi coverd)
Building B: Assembly lines
Building C: Warehouse
Q: Building A: Locating persons + high rate data transmission
Building B: Accurate positioning products + no data transmission
Building C: Locating forklifts + low rate data transmission
Which indoor localization system will you choose for Building A,
Building B,
Building C, respectively? why?
Answers:
A: WIFI. Wife covered, high data rate, mobile phone.
B: RFID(Passive). Small tag size, high acceracy, low cost.
C: ZigBee. Low power consumption, low cost, low data rate

Thank you!