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유비쿼터스 컴퓨팅 데이터베이스 연구실
Ubiquitous Computing Database Lab
eLIT RTLS for port logistics (Business proposal)
Last update: March 18, 2013
eLIT Co., Ltd.; PNU, Republic of KOREA
유비쿼터스 컴퓨팅 데이터베이스 연구실
Ubiquitous Computing Database Lab㈜일리트
Proprietary & Confidential ( 무단전제 /복제 금지 )
Overview
Target Objects for real time location tracking Current phase
Y/T (Yard Tractor) or AGV (Automated Guided Vehicle) C/C(Container Crane), T/C (Transfer Crane)
Future Containers
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유비쿼터스 컴퓨팅 데이터베이스 연구실
Ubiquitous Computing Database Lab㈜일리트
Proprietary & Confidential ( 무단전제 /복제 금지 )
Overview
RTLS : Real-Time Locating System Tag/Reader/Locating Engine
3
Internet Intranet
GUI Application
RTLS engine
RTLS tag
UDP / TCP
UDP
RTLS reader
유비쿼터스 컴퓨팅 데이터베이스 연구실
Ubiquitous Computing Database Lab㈜일리트
Proprietary & Confidential ( 무단전제 /복제 금지 )
Overview
Method for locating The method of location is through identification and location
Amplitude Triangulation (RSSI : Received Signal Strength Indication) Time of Flight Ranging Systems(TOA, TOF) Time Difference of Arrival (TDOA)
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(x1,y1) d1
d2
d3
(x2,y2)
(x3,y3)
(x1,y1) (x2,y2)
(x3,y3)
r1 – r3 r1 – r2
Triangulation Hyperbolic location estimation
유비쿼터스 컴퓨팅 데이터베이스 연구실
Ubiquitous Computing Database Lab㈜일리트
Proprietary & Confidential ( 무단전제 /복제 금지 )
Overview
Method of distance measurements
RSSI : Radio signal strength Indication Measuring Radio signal strength Radio signal attenuates exponentially
RSSI ∝
TOA/TDOA Measuring speed of RF(radio frequency)
299,792,458 m / s = .33m / ns
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Sender Receiver
Ptx Prcvd
d
nd
PSd: distance
n ∈ [−2, −0.1]
PS: the sending signal voltage
40% signal strengthvariation with angle
0 10 20 30 40 50 60 70 80 90 10011050
100
150
200
250
300
350
400
450
RS
SI
Distance(m)
유비쿼터스 컴퓨팅 데이터베이스 연구실
Ubiquitous Computing Database Lab㈜일리트
Proprietary & Confidential ( 무단전제 /복제 금지 )
Overview
Comparison of RF distance measuring techniques
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RSSI TOA TDOA
Accuracy inaccurate accurate accurate
Maximum range<100m
(<30m)
>100m
(>km)>100m
Time Synchronization
x Reader-tag Reader-reader
Tag simpleComplex
Power consuming
simple
Cost Low High Moderate
Main applicationIndoor
application
Global/City-scale
application
Outdoor application
유비쿼터스 컴퓨팅 데이터베이스 연구실
Ubiquitous Computing Database Lab㈜일리트
Proprietary & Confidential ( 무단전제 /복제 금지 )
Motivation
Motivation of RTLS development Real-Time Locating System(RTLS)
Port application needs more precise locating system Required precision error : < 3m
=> TOA/TDOA based RTLS
Container terminal environments Reader installation : top of light tower
Not 2-D environment Severe RF Shadow area on densely stacked container yards
Major vendor reports their big location error (>20m)
=> application specific optimization techniques for RTLS
7
Light tower
Reader
유비쿼터스 컴퓨팅 데이터베이스 연구실
Ubiquitous Computing Database Lab㈜일리트
Proprietary & Confidential ( 무단전제 /복제 금지 )
Motivation
Pilot Project for RTLS
8
유비쿼터스 컴퓨팅 데이터베이스 연구실
Ubiquitous Computing Database Lab
Pilot Project for RTLS
H/W Layout
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15dB Omni-directionl *1 EA
6.5dB Diversity directional *1 EA
15dB Omni-directionl *2 EA
유비쿼터스 컴퓨팅 데이터베이스 연구실
Ubiquitous Computing Database Lab㈜일리트
Proprietary & Confidential ( 무단전제 /복제 금지 )
Pilot Project for RTLS
10
RTLS readers on light tower
유비쿼터스 컴퓨팅 데이터베이스 연구실
Ubiquitous Computing Database Lab㈜일리트
Proprietary & Confidential ( 무단전제 /복제 금지 )
Pilot Project for RTLS
Y/T: (RTLS Tag)
11
유비쿼터스 컴퓨팅 데이터베이스 연구실
Ubiquitous Computing Database Lab㈜일리트
Proprietary & Confidential ( 무단전제 /복제 금지 )
Pilot Project for RTLS
12
370m
350m
120m
Location AccuracyLocation Accuracy
RTLS reader’s interval: : 100~150m
BICT: 20m – 30m error
유비쿼터스 컴퓨팅 데이터베이스 연구실
Ubiquitous Computing Database Lab㈜일리트
Proprietary & Confidential ( 무단전제 /복제 금지 )
RTLS for port logistics
13
유비쿼터스 컴퓨팅 데이터베이스 연구실
Ubiquitous Computing Database Lab㈜일리트
Proprietary & Confidential ( 무단전제 /복제 금지 )
RTLS Project Objectives
Real Time Locating System for port logistics
14
14
유비쿼터스 컴퓨팅 데이터베이스 연구실
Ubiquitous Computing Database Lab㈜일리트
Proprietary & Confidential ( 무단전제 /복제 금지 )
IEEE802.15.4a RF
Ranging Method TWR ( Two-Way Ranging )
Two-way Ranging Using round-trip time (RTT) Do not need time-synchronization
RF encoding CSS ( Chirp Spread Spectrum )
Robust against disturbances Robust against multipath fading
Using CSS-TWR ranging mechanism
- 15 -
유비쿼터스 컴퓨팅 데이터베이스 연구실
Ubiquitous Computing Database Lab㈜일리트
Proprietary & Confidential ( 무단전제 /복제 금지 )
RTLS-Tag
Features MCU :TI MSP430F2272
Flash Memory : 32KB + 256B RAM : 1KB
RF chip : Nanotron NA5TR1 IEEE802.15.4a
Size : 50(L) x 40(W) x 15(H) mm3 Communication range : up to 300m Lifetime : about 2 years
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<vehicle> <human>
유비쿼터스 컴퓨팅 데이터베이스 연구실
Ubiquitous Computing Database Lab㈜일리트
Proprietary & Confidential ( 무단전제 /복제 금지 )
RTLS-Reader
Features Main processor : Intel PXA255 (400MHz) RF control processor: STM32F103 (72MHz Cortex-M3) Quad RF module
Use 4 directional antennas
10/100Mbps Ethernet UDP/TCP communication
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유비쿼터스 컴퓨팅 데이터베이스 연구실
Ubiquitous Computing Database Lab㈜일리트
Proprietary & Confidential ( 무단전제 /복제 금지 )
RTLS Locating Engine
Position estimation using Linear Least Square Include Data Filtering module 2.5D Location calculation
Port logistics environment is not 2D Height of Light tower : 30m-40m
Our approach Convert 2D location data into 2.5D
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유비쿼터스 컴퓨팅 데이터베이스 연구실
Ubiquitous Computing Database Lab㈜일리트
Proprietary & Confidential ( 무단전제 /복제 금지 )
Scalable RTLS
Conventional RTLS system Server(Engine) overload
OUR APPROACH : Embed RTLS server function into Readers Effective load balancing Fault tolerant
- 19 -
유비쿼터스 컴퓨팅 데이터베이스 연구실
Ubiquitous Computing Database Lab㈜일리트
Proprietary & Confidential ( 무단전제 /복제 금지 )
Scalable RTLS
System Diagram
- 20 -
유비쿼터스 컴퓨팅 데이터베이스 연구실
Ubiquitous Computing Database Lab㈜일리트
Proprietary & Confidential ( 무단전제 /복제 금지 )
Assistant tag approach
Assistant tag approach to overcome radio shadow area The tag assists estimating distance for locating acting as a virtual reader
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유비쿼터스 컴퓨팅 데이터베이스 연구실
Ubiquitous Computing Database Lab㈜일리트
Proprietary & Confidential ( 무단전제 /복제 금지 )
RTLS Testbed
Testbed in PNU Stadium
- 22 -
0
2000
4000
6000
8000
10000
12000
0 2000 4000 6000 8000 10000 12000
유비쿼터스 컴퓨팅 데이터베이스 연구실
Ubiquitous Computing Database Lab㈜일리트
Proprietary & Confidential ( 무단전제 /복제 금지 )
RTLS Construction
Korea Gwangyang port
- 23 -
유비쿼터스 컴퓨팅 데이터베이스 연구실
Ubiquitous Computing Database Lab㈜일리트
Proprietary & Confidential ( 무단전제 /복제 금지 )
RTLS Construction
Korea Hutcheson Port
24
유비쿼터스 컴퓨팅 데이터베이스 연구실
Ubiquitous Computing Database Lab㈜일리트
Proprietary & Confidential ( 무단전제 /복제 금지 )
RTLS Construction
Koea Hyundai New Port
25
유비쿼터스 컴퓨팅 데이터베이스 연구실
Ubiquitous Computing Database Lab㈜일리트
Proprietary & Confidential ( 무단전제 /복제 금지 )
Conclusions
Conclusions LIT-RTLS : RTLS system for port environments
Full system develpment RTLS tag RTLS Reader RTLS engine
New ideas for port environment Assistant tag method to overcome RF shadow area Distributed RTLS server
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