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Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
Terje Midtbø - Test of an indoor navigation system
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Terje Midtbø - Test of an indoor navigation system

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  • 1. Are indoor positioning systems mature for cartographic tasks? Evaluating the performance of a commercial indoor positioning system Terje Midtbø Norwegian University of Science and Technology
  • 2. View of the world?
  • 3. When we move indoor....
  • 4. Overview • Indoor maps • Indoor navigation • Testing the WiFi positioning system at NTNU • Measurements • Results • Discussions and conclusions
  • 5. Do we need indoor navigation? • Localization of persons and equipment at for example hospitals • Find your way in large complex and unknown buildings • Find products in large shopping areas • Most efficient shopping based on shopping list • Tourists at a museum • Alternative emergency exits • Localization of firefighter • …….
  • 6. Indoor maps
  • 7. Indoor visualization
  • 8. Indoor maps
  • 9. Floor plans
  • 10. Map made by Jaan Tarmak
  • 11. Floor plans
  • 12. Indoor tube
  • 13. Indoor navigation
  • 14. GPS-”repeaters”
  • 15. RFID-system - Present?
  • 16. Systems based on ultrasound - Need free line of sight
  • 17. Infrared signals - Present?
  • 18. Bluetooth
  • 19. Location by phone signals
  • 20. WiFi positioning systems
  • 21. WiFi positioning systems • Time for signal one way • Time for signal both ways • Time for signal in combination with angle to the access points • Phase measurements • Signal strength
  • 22. Indoor navigation
  • 23. Cisco positioning system at Norwegian University of Science and Technology (NTNU)
  • 24. Investigation of the Ciscosystem at NTNU
  • 25. Network of control points
  • 26. Measurements • Accurate measurement of control points by surveying equipment and methods • New measured coordinates for the access points • Coordinates measured in UTM, Zone 32N • Transformed into local system used by the Cisco system. Units in feet.
  • 27. New coordinates for the access points • Average 2D differences: 11.7 feet • Min: 3.7 feet • Max: 19.2 feet
  • 28. Measurement of positions by using WiFi
  • 29. Measurement application • Web-based interface • Measured data stored in SQLite database • Both UTM and local coordinate systems
  • 30. Equipment for the measurement • Laptop with external antenna • Fixed height over the floor • Easy to move to next position
  • 31. Measurements based on 4 configurations • Old coordinates for access points – no fingerprinting • Old coordinates for access points with fingerprinting • New coordinates for access points – no fingerprinting • New coordinates for access points with fingerprinting
  • 32. Measurements based on 4 configurations • 10 points were measured in the 1st floor of Lerkendalsbygget • 5 measurements for each point in each configuration
  • 33. Results
  • 34. Differences from true values
  • 35. Measured point and access points
  • 36. Correlation coefficients X-components, 1- 4 Y-components, 1- 4
  • 37. Variances
  • 38. Differences from true values
  • 39. Discussion and conclusions
  • 40. • More accurate coordinates for access points gave no significant improvement for measured position • Fingerprinting as it is used today shows no significant improvement in the measured position. Lower variance is still observed. • Correlation between different types of measurements in the same control points indicate that geometry and obstacles are the dominating sources of error • Further research: include obstacles in the model
  • 41. • More accurate coordinates for access points gave no significant improvement for measured position • Fingerprinting as it is used today shows no significant improvement in the measured position. Lower variance is still observed. • Correlation between different types of measurements in the same control points indicate that geometry and obstacles are the dominating sources of error • Further research: include obstacles in the model • Still too poor precision and accuracy for turn-by-turn navigation • Acceptable for localize equipment • Acceptable for overview of peoples position in social applications

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