PolyPoint: Accurate 802.15.4a Indoor Localization Benjamin Kempke, Brad Campbell, Pat Pannuto,...
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PolyPoint: Accurate 802.15.4a Indoor Localization Benjamin Kempke, Brad Campbell, Pat Pannuto, Ye-Sheng Kuo, and Prabal Dutta University of Michigan 2015 Microsoft Indoor Localization Competition – April 15, 2015
PolyPoint: Accurate 802.15.4a Indoor Localization Benjamin Kempke, Brad Campbell, Pat Pannuto, Ye-Sheng Kuo, and Prabal Dutta University of Michigan 2015
PolyPoint: Accurate 802.15.4a Indoor Localization Benjamin
Kempke, Brad Campbell, Pat Pannuto, Ye-Sheng Kuo, and Prabal Dutta
University of Michigan 2015 Microsoft Indoor Localization
Competition April 15, 2015
Ranging using Timestamps: Time-of-Flight Ranging 12 Clock
Offset Compensation: Time-of-Flight Calculation: Range
Calculation:
Slide 13
Estimating Actual Range from Multiple Time-of-Flight
Measurements Ranging operations repeated 27 times Every combination
of: 3 antennas @ the tag 3 antennas @ the anchor 3 UWB channels
Best estimate of range: 10 th percentile 13
Slide 14
Trilateration: From Range to Position Choose the three closest
anchors Perform trilateration using the Non-linear Least Squares
Method Minimize the function: Where: 14
Slide 15
PolyPoint Demonstrates Accurate Indoor Localization Using
Inexpensive, Commercially- Available Hardware +Ranging operations
performed using timestamps provided by the DW1000 +27 successive
range measurements between the tag and each anchor +Antenna
diversity avoids large ranging errors due to polarization mismatch
+Frequency diversity avoids frequency-selective effects +Tag
location derived using minimum least squares trilateration 15
Benjamin Kempke University of Michigan [email protected]
PolyPoint:
http://www.github.com/lab11/polypointhttp://www.github.com/lab11/polypoint