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Tagoram: Real-Time Tracking of Mobile
RFID Tags to High-Precision Accuracy
Using COTS Devices
Xiang-Yang Li
Lei Yang, Yekui Chen, Xiang-Yang Li, Chaowei Xiao, Mo Li, Yunhao Liu
Sep. 9, 2014
Tagoram: Real-Time Tracking of Mobile
RFID Tags to High-Precision Accuracy
Using COTS Devices
Xiang-Yang Li
Lei Yang, Yekui Chen, Xiang-Yang Li, Chaowei Xiao, Mo Li, Yunhao Liu
Sep. 9, 2014
Movement with known track04.
Outline
State-of-the-art02.
Overview03.
Implementation & Evaluation06.
Movement with unknown track05.
Motivation01.
Pilot Study07.
Conclusion08.
RFID Tracking & LocalizationState-of-the-art
2004 2014201320112010
[1] Lionel M. Ni, Yunhao Liu, etal
LANDMARC: Indoor Location Sensing
Using Active RFID
Wireless Networks
1120mm
LANDMARC Lionel M. Ni
RFID Tracking & LocalizationState-of-the-art
2004 2014201320112010
[1] Lionel M. Ni, Yunhao Liu, etal
LANDMARC: Indoor Location Sensing
Using Active RFID
Wireless Networks
1120mm
LANDMARC Lionel M. Ni
[3] P.Nikitin, etal
Phase based spatial identification of uhf
rfid tags.
IEEE RFID 2010.
680mm
[2] C.Hekimian-Williams, elta
Accurate localization of rfid tags using
phase difference.
IEEE RFID 2010.
280mm
Diff basedC. H.Williams
Spatial basedP. Nikitin
RFID Tracking & LocalizationState-of-the-art
2004 2014201320112010
[1] Lionel M. Ni, Yunhao Liu, etal
LANDMARC: Indoor Location Sensing
Using Active RFID
Wireless Networks
1120mm [3] P.Nikitin, etal
Phase based spatial identification of uhf
rfid tags.
IEEE RFID 2010.
680mm
[2] C.Hekimian-Williams, elta
Accurate localization of rfid tags using
phase difference.
IEEE RFID 2010.
280mm
Diff basedC. H.Williams
Spatial basedP. Nikitin
[4] Salah Azzouzi, etal
New measurement results for the
localization of uhf RFID transponders
using an angle of arrival (aoa) approach
IEEE RFID 2011.
300mm
210mm
[5] R. Miesen etal.
Holographic localization of passive uhf
rfid transponders.
IEEE RFID 2011.
AOA basedS. Azzouzi
HolographicR. Miesen
RFID Tracking & LocalizationState-of-the-art
2004 2014201320112010
[1] Lionel M. Ni, Yunhao Liu, etal
LANDMARC: Indoor Location Sensing
Using Active RFID
Wireless Networks
1120mm
[4] Salah Azzouzi, etal
New measurement results for the
localization of uhf RFID transponders
using an angle of arrival (aoa) approach
IEEE RFID 2011.
300mm
210mm
[5] R. Miesen etal.
Holographic localization of passive uhf
rfid transponders.
IEEE RFID 2011.
AOA basedS. Azzouzi
HolographicR. Miesen
[6] Jue Wang, etal
Dude, where's my card?: RFID positioning
that works with multipath and non-line of
sight
ACM SIGCOMM 2013
110mm
12.8mm
[7] Jue Wang, etal
RF-compass: robot object manipulation
using RFIDs
ACM MobiCom 2013
PinItJue Wang
RF-CompassJue Wang
680mm
[2] C.Hekimian-Williams, elta
Accurate localization of rfid tags using
phase difference.
IEEE RFID 2010.
280mm
[3] P.Nikitin, etal
Phase based spatial identification of uhf
rfid tags.
IEEE RFID 2010.
RFID Tracking & LocalizationState-of-the-art
2004 2014201320112010
[1] Lionel M. Ni, Yunhao Liu, etal
LANDMARC: Indoor Location Sensing
Using Active RFID
Wireless Networks
1120mm
[4] Salah Azzouzi, etal
New measurement results for the
localization of uhf RFID transponders
using an angle of arrival (aoa) approach
IEEE RFID 2011.
300mm
210mm
[5] R. Miesen etal.
Holographic localization of passive uhf
rfid transponders.
IEEE RFID 2011.
[6] Jue Wang, etal
Dude, where's my card?: RFID positioning
that works with multipath and non-line of
sight
ACM SIGCOMM 2013
110mm
27.6mm
[7] Jue Wang, etal
RF-compass: robot object manipulation
using RFIDs
ACM MobiCom 2013
[8] Tianci Liu, etal,
Anchor-free Backscatter Positioning for
RFID Tags with High Accuracy
IEEE INFOCOM 2014
128mm
[9] Jue Wang, etal,
RF-Idaw: Virtual Touch Screen in the Air
Using RF Signals
IEEE INFOCOM 2014
37mm
BackPosTianci Liu
RF-IDRawJue Wang
[3] P.Nikitin, etal
Phase based spatial identification of uhf
rfid tags.
IEEE RFID 2010.
680mm
[2] C.Hekimian-Williams, elta
Accurate localization of rfid tags using
phase difference.
IEEE RFID 2010.
280mm
PinItJue Wang
RF-CompassJue Wang
RFID Tracking & LocalizationState-of-the-art
2004 2014201320112010
[1] Lionel M. Ni, Yunhao Liu, etal
LANDMARC: Indoor Location Sensing
Using Active RFID
Wireless Networks
1120mm
[4] Salah Azzouzi, etal
New measurement results for the
localization of uhf RFID transponders
using an angle of arrival (aoa) approach
IEEE RFID 2011.
300mm
210mm
[5] R. Miesen etal.
Holographic localization of passive uhf
rfid transponders.
IEEE RFID 2011.
[6] Jue Wang, etal
Dude, where's my card?: RFID positioning
that works with multipath and non-line of
sight
ACM SIGCOMM 2013
110mm
27.6mm
[7] Jue Wang, etal
RF-compass: robot object manipulation
using RFIDs
ACM MobiCom 2013
[8] Tianci Liu, etal,
Anchor-free Backscatter Positioning for
RFID Tags with High Accuracy
IEEE INFOCOM 2014
128mm
[9] Jue Wang, etal,
RF-Idaw: Virtual Touch Screen in the Air
Using RF Signals
IEEE INFOCOM 2014
37mm
BackPosTianci Liu
RF-IDRawJue Wang
WE ARE HERE
7mm
[3] P.Nikitin, etal
Phase based spatial identification of uhf
rfid tags.
IEEE RFID 2010.
680mm
[2] C.Hekimian-Williams, elta
Accurate localization of rfid tags using
phase difference.
IEEE RFID 2010.
280mm
State-of-the-art Techniques
RSS based Methods1
RSS is not a reliable location indicatorespecially for UHF tags
RSSOrientation VS
Phase based Methods2
PinIt (SIGCOMM 2013) RF-Compass (MobiCom 2013)
Needs to deploy dense reference tags
State-of-the-art Techniques
Summary of Challenges
Need mm-level localization accuracy achieved• especially for mobile tags.
Small overhead, COTS devices• infeasible for using many references for a trackingsystem spanning a long pipeline.
Fast-changing environment• multipath reflection of RF signals• varied orientation of tags• Doppler effect
Problem definition
Surveillance region
Reader antenna
{ 𝜃1,1, 𝑡1,1 , (𝜃1,2, 𝑡1,2)⋯ , (𝜃1,𝑁, 𝑡1,𝑁)}
{ 𝜃2,1, 𝑡2,1 , (𝜃2,2, 𝑡2,2)⋯ , (𝜃2,𝑁, 𝑡2,𝑁)}
{ 𝜃𝑀,1, 𝑡𝑀,1 , (𝜃𝑀,2, 𝑡𝑀,2)⋯ , (𝜃𝑀,𝑁, 𝑡𝑀,𝑁)}
⋮ ⋮ ⋮
𝑀 ×𝑁
Utilizing antennas’ locations, sampled phase values and timestamps to find out the tag’s trajectory 𝒇(𝒕)?
Virtual Antenna Matrix
Conveyor
Inverse Synthetic Aperture Radar
𝒇(𝒕𝟎)𝑉
𝐴1
𝐴2
𝐴1,1 𝐴1,2 𝐴1,3 𝐴1,4
𝐴2,1 𝐴2,2 𝐴2,3 𝐴2,4
Initial
position
RF Hologram
Naïve Hologram
Augmented Hologram
DifferentialAugmented Hologram
Thermal noise
Device diversity
Naïve Hologram
𝐴 𝑇
𝑒𝑱𝜃 The real signal
𝐴 𝑋𝑒𝑱ℎ(𝐴,𝑋)
The theoretical signal
𝐴 𝑋𝑒𝑱(ℎ 𝐴,𝑋 −𝜃)A virtual interfered signal
Naïve Hologram
If 𝑿 is the initial location, the waves add up constructively.
Real axis
Imaginary axis
𝑒𝑱(𝒉 𝑿,𝑨𝟏,𝟏 −𝜽𝟏,𝟏)
𝑒𝑱(𝒉 𝑿,𝑨𝟏,𝟐 −𝜽𝟏,𝟐)
𝑒𝑱(𝒉 𝑿,𝑨𝟒,𝟒 −𝜽𝟒,𝟒)𝑒𝑱(𝒉 𝑿,𝑨𝟒,𝟑 −𝜽𝟒,𝟑)
Naïve Hologram
Real axis
Imaginary axis
𝑒𝑱(𝒉 𝑿,𝑨𝟏,𝟏 −𝜽𝟏,𝟏)
𝑒𝑱(𝒉 𝑿,𝑨𝟏,𝟐 −𝜽𝟏,𝟐)
𝑒𝑱(𝒉 𝑿,𝑨𝟒,𝟒 −𝜽𝟒,𝟒)
𝑒𝑱(𝒉 𝑿,𝑨𝟒,𝟑 −𝜽𝟒,𝟑)
If 𝑿 is not the initial location, the waves canceled out.
−𝟕𝟎 ∼ −𝟑𝟎𝒅𝒃𝒎
Influence from Thermal Noise
Experiment Observations
CDFModeling
varying with 𝒅 𝝈 = 𝟎. 𝟏
𝜃 ∼ 𝒩(𝜇, 𝜎) 𝐹(𝜃; 𝜇, 𝜎)
𝟎∘~𝟒𝟎∘
𝟗𝟐𝟎 ∼ 𝟗𝟐𝟔𝑴𝑯𝒛
100 tags
Influence from Tag Diversity
Experiment Observations
Random testModeling
At same position
70 tags 100 times
Tag diversity
Pass KS-test to be verifiedover a uniform distributionwith 0.5 significant level.
Hardware & Software Introduction
ImpinJ R420 reader.
4 directional antennas
Reader Tag
Alien 2 × 2 Inlay
Alien Squiggle Inlay
Software
EPCglobal LLRP
Java
Linear Track
• A mobile object is emulated via a toy train on which a tag is attached.
• The system triggers the camera to take a snapshot on the train when firstly read.
• A camera is installed above the track to capture the ground truth.
Tracking Accuracy in Linear Track
Improve the accuracy by 𝟒𝟖 ×, 𝟑𝟎 ×, 𝟐𝟖 × 𝒂𝒏𝒅 𝟖. 𝟓 ×in comparison to RSS, OTrack, PinIt and BackPos.
DAH
𝟒
𝟏𝟑 𝟏𝟒
Controllable Case with Nonlinear Track
• The track’s internal diameter is 540mm
• The distance varies from 𝟏𝒎to 𝟏𝟓𝒎
Current workflow – Manual sortation
Sortation carousel Sorting baggage
It is error-prone step to find the baggagefrom the carousel in manual sortation.
Setup
• Each airport contains 5 TrackPoints, 4visualization screens, and 22 RFIDPrinters.
• The two-year pilot study totallyspent more than $600,000
Setup
•Consumed 110,000 RFID tags.
• Involved 53 destination airports, 93air lines, and 1,094 flights.
• Provides real-time tracking of mobile tags withaccuracy to mm-level.
• Limits almost all negative impacts.• Multipath effect
• Doppler effect
• Thermal noise
• Device diversity
• Implemented purely based on COTS RFID products.
• Systematically evaluated under indoor environment and at two airports.
Conclusion
Not well-studied before