Technical Presentation Vlt 10 12 03
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Technical Presentation Vlt 10 12 03 Technical Presentation Vlt 10 12 03 Presentation Transcript

  • 2010 Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor2007 Environment Characterization Vincenzo La Tosa Primary Supervisor: Pr. Bernard Uguen (Univ. Rennes 1) Co-Supervisor: Dr. Benoît Denis (CEA-LETI) © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 1
  • Summary  Introduction  Problem Statement  State-of-the-art  Proposed Solutions with an UWB Coherent Receiver (CR)2007  Proposed Solution with an UWB Non-Coherent Receiver (NCR)  Conclusion & Perspectives © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 2
  • Summary  Introduction  Problem Statement  State-of-the-art  Proposed Solutions with an UWB Coherent Receiver (CR)2007  Proposed Solution with an UWB Non-Coherent Receiver (NCR)  Conclusion & Perspectives © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 3
  • Introduction (1/3)  IR-UWB: what is it? • Impulse Radio – Ultra Wide Band (IR-UWB) is a low-power and short range communication technology using a bandwidth larger than 500 MHz • pulses are very short in time (e.g. about 1 ns for a 1 GHz bandwidth), thanks to the very large bandwidth Received signal, 802.15.4a channel #4, 5th interaction order allowed 1.5 1 Received tension [mV] 0.5 02007 -0.5 -1 -1.5 0 10 20 30 40 50 60 70 80 Time [ns] © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 4
  • Introduction (1/3)  IR-UWB: what is it? • Impulse Radio – Ultra Wide Band (IR-UWB) is a low-power and short range communication technology using a bandwidth larger than 500 MHz • pulses are very short in time (e.g. about 1 ns for a 1 GHz bandwidth), thanks to the very large bandwidth  Regulation : • different for US (FCC) and EU (ECC) • very low Power Density Spectrum (PSD) allowed by FCC: -41.3 dBm/MHz2007 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 5
  • Introduction (1/3)  IR-UWB: what is it? • Impulse Radio – Ultra Wide Band (IR-UWB) is a low-power and short range communication technology using a bandwidth larger than 500 MHz • pulses are very short in time (e.g. about 1 ns for a 1 GHz bandwidth), thanks to the very large bandwidth  Regulation : • different for US (FCC) and EU (ECC) • very low Power Density Spectrum (PSD) allowed by FCC: -41.3 dBm/MHz2007  IEEE 802.15.4a standard (2007): • low data rate (LDR) and peer-to-peer ranging for Wireless Sensor Networks (WSN) © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 6
  • Introduction (2/3)  Environment characterization: what is it? • the characterization of a given indoor environment is the description of :  geometry (i.e. room map)  materials constituting environment2007 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 7
  • Introduction (3/3)  Anchor-less localization: what is it? • for a given radio device the capability of getting aware of its coordinates in a local and relative Cartesian coordinate system in the surrounding environment • no node can be an anchor (i.e. reference node) y y22007 y1 x x1 x2 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 8
  • Summary  Introduction  Problem Statement  State-of-the-art  Proposed Solutions with an UWB Coherent Receiver (CR)2007  Proposed Solution with an UWB Non-Coherent Receiver (NCR)  Conclusion & Perspectives © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 9
  • Problem statement  Joint environment characterization and anchor-less localization while communicating2007 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 10
  • Problem statement  Joint environment characterization and anchor-less localization while communicating  The two SISO nodes belonging to a WSN exchange packets2007 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 11
  • Problem statement  Joint environment characterization and anchor-less localization while communicating Dx y2 Dy y1 x1 x2  The two SISO nodes belonging to a WSN exchange packets2007  Thanks to multi-path diversity, the receiver can estimate room dimensions and nodes coordinates in the room © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 12
  • Problem statement  Joint environment characterization and anchor-less localization while communicating Dx y2 Dy y1 x1 x2  The two SISO nodes belonging to a WSN exchange packets2007  Thanks to multi-path diversity, the receiver can estimate room dimensions and nodes coordinates in the room  Application fields: robotics, home automation, home entertainment, mobility in dangerous environments © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 13
  • Summary  Introduction  Problem Statement  State-of-the-art  Proposed Solutions with an UWB Coherent Receiver (CR)2007  Proposed Solution with an UWB Non-Coherent Receiver (NCR)  Conclusion & Perspectives © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 14
  • State-of-the-art  Environment characterization:  UWB Imaging (R. Zetik, 2005)  UWB monostatic radar technique or Single Input Multiple Output (SIMO) transmission (i.e. multiple receiving antennas) in a mobile scenario, providing an image of the environment and exploiting collected Channel Impulse Responses (CIR)2007 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 15
  • State-of-the-art  Environment characterization:  UWB Imaging (R. Zetik, 2005)  UWB monostatic radar technique or Single Input Multiple Output (SIMO) transmission (i.e. multiple receiving antennas) in a mobile scenario, providing an image of the environment starting from collected Channel Impulse Responses (CIR)  Simultaneous Localization And Mapping (SLAM) (J. A. Castellanos,1997)  mobile robots discovering the indoor environment without radio communications (e.g. through camera, laser)2007 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 16
  • State-of-the-art  Environment characterization:  UWB Imaging (R. Zetik, 2005)  UWB monostatic radar technique or Single Input Multiple Output (SIMO) transmission (i.e. multiple receiving antennas) in a mobile scenario, providing an image of the environment starting from collected Channel Impulse Responses (CIR)  Simultaneous Localization And Mapping (SLAM) (J. A. Castellanos,1997)  mobile robots discovering the indoor environment without radio communications (e.g. through camera, laser)  Joint communications, localization and environment characterization:  Indoor Mapping (W. Guo, 2005)  geometric relationships linking the differences of Times of Arrival with geometry2007 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 17
  • State-of-the-art  Environment characterization:  UWB Imaging (R. Zetik, 2005)  UWB monostatic radar technique or Single Input Multiple Output (SIMO) transmission (i.e. multiple receiving antennas) in a mobile scenario, providing an image of the environment starting from collected Channel Impulse Responses (CIR)  Simultaneous Localization And Mapping (SLAM) (J. A. Castellanos,1997)  mobile robots discovering the indoor environment without radio communications (e.g. through camera, laser)  Joint communications, localization and environment characterization:  Indoor Mapping (W. Guo, 2005)  geometric relationships linking the differences of Times of Arrival with geometry2007  Radiolocation with anchors:  Different solutions (S. Gezici, 2005)  AoA, Signal Strength, ToA © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 18
  • Described Investigations  Two different approaches:  Coherent Receiver (CR)  high frequency sampling (i.e. Nyquist compliant, fs = 15 GHz)  floating point dynamic range for signal representation2007 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 19
  • Described Investigations  Two different approaches:  Coherent Receiver (CR)  high frequency sampling (i.e. Nyquist compliant, fs = 15 GHz)  floating point dynamic range for signal representation  Non-Coherent Receiver (NCR)  low frequency sampling (i.e. much lower than Nyquist frequency)2007  4-bits dynamic range for signal representation © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 20
  • Common Environment Model  Indoor environment model:  rectangular room with walls numbered anticlockwise  for the reflected paths, the label of parameters corresponds to that of the interacting wall  Angles of Incidence (AoIs) defined as the angle involved in the reflection2007  ,  1 tx,1 , rx ,1, 1  © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 21
  • Common Environment Model  Indoor environment model:  rectangular room with walls numbered anticlockwise  for the reflected paths, the label of parameters corresponds to that of the interacting wall  Angles of Incidence (AoIs) defined as the angle involved in the reflection2007 tx ,1  ,  1 tx,1 , rx ,1, 1  © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 22
  • Common Environment Model  Indoor environment model:  rectangular room with walls numbered anticlockwise  for the reflected paths, the label of parameters corresponds to that of the interacting wall  Angles of Incidence (AoIs) defined as the angle involved in the reflection rx,12007  ,  1 tx,1 , rx ,1, 1  © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 23
  • Common Environment Model  Indoor environment model:  rectangular room with walls numbered anticlockwise  for the reflected paths, the label of parameters corresponds to that of the interacting wall  Angles of Incidence (AoIs) defined as the angle involved in the reflection  ,  , rx , 2 ,  2 2007 2 tx, 2  ,  1 tx,1 , rx ,1, 1  © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 24
  • Common Environment Model  Indoor environment model:  rectangular room with walls numbered anticlockwise  for the reflected paths, the label of parameters corresponds to that of the interacting wall  Angles of Incidence (AoIs) defined as the angle involved in the reflection  ,  3 tx,3 , rx ,3 ,  3   ,  , rx , 2 ,  2 2007 2 tx, 2  ,  1 tx,1 , rx ,1, 1  © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 25
  • Common Environment Model  Indoor environment model:  rectangular room with walls numbered anticlockwise  for the reflected paths, the label of parameters corresponds to that of the interacting wall  Angles of Incidence (AoIs) defined as the angle involved in the reflection  ,  3 tx,3 , rx ,3 ,  3   ,  , rx , 4 ,  4   ,  , rx , 2 ,  2 2007 4 tx, 4 2 tx, 2  ,  1 tx,1 , rx ,1, 1  © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 26
  • Summary  Introduction  Problem Statement  State-of-the-art  Proposed Solutions with an UWB Coherent Receiver (CR)2007  Proposed Solution with an UWB Non-Coherent Receiver (NCR)  Conclusion & Perspectives © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 27
  • Signal Model  Single path in the frequency domain:  generic received path:2007 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 28
  • Signal Model  Single path in the frequency domain:  generic received path:2007 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 29
  • Signal Model  Single path in the frequency domain:  generic received path:2007 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 30
  • Signal Model  Single path in the frequency domain:  generic received path:  antennas filter the pulse feeding the transmitting antenna, depending on DoD ( ) and DoA ( ), in addition to path channel2007 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 31
  • Signal Model  Single path in the frequency domain:  generic received path:  antennas filter the pulse feeding the transmitting antenna, depending on DoD ( ) and DoA ( ), in addition to path channel2007  Tension of received multipath signal in the time domain:  corresponds to the sum of received paths  with filtered white Gaussian noise and © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 32
  • CR approach (1/2)  Principles:  a database of templates can be locally built thanks to prior antenna characterization and relying on the previous deterministic model2007 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 33
  • CR approach (1/2)  Principles:  a database of templates can be locally built thanks to prior antenna characterization and relying on the previous deterministic model2007 Templates for direct paths and single-bounce paths Templates indexed by an AoA/AoD and/or AoI © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 34
  • CR approach (1/2)  Principles:  a database of templates can be locally built thanks to prior antenna characterization and relying on the previous deterministic model  a good representation (i.e. floating point) of the received signal is available Received tension only considering direct path and single-bounce paths 1 Received tension [mV] 0.52007 0 -0.5 -1 0 5 10 15 20 25 30 35 Time [ns] © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 35
  • CR approach (1/2)  Principles:  a database of templates can be locally built thanks to prior antenna characterization and relying on the previous deterministic model  a good representation (i.e. floating point) of the received signal is available  the received multipath components are assumed to be detectable thanks to the intrinsic UWB time resolution (i.e. path-by-path approach) Received tension only considering direct path and single-bounce paths 1 Received tension [mV] 0.52007 0 -0.5 -1 0 5 10 15 20 25 30 35 Time [ns] © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 36
  • CR approach (2/2)  Principles:  each received multipath component is associated to one or more templates through cross-correlation  each received multipath component is associated with a set of transmission parameters (i.e. indexing the local database of templates) Multipath component cross-corr Received tension only considering direct path and single-bounce paths 1 2007Received tension [mV] 0.5 0 -0.5 -1 0 5 10 15 20 25 30 35 Time [ns] © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 37
  • CR approach (2/2)  Principles:  each received multipath component is associated to one or more templates through cross-correlation  each received multipath component is associated with a set of transmission parameters (i.e. indexing the local database of templates) Template(s) Transmission Multipath component cross-corr Received tension only considering direct path and single-bounce paths parameters 1 2007Received tension [mV] 0.5 Param a 0 Param b -0.5 a -1 b 0 5 10 15 20 25 30 35 Time [ns] © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 38
  • CR approach  Principles illustration: Received tension only considering direct path and single-bounce paths Cross-correlation 1 with the local database of predicted Received tension [mV] 0.5 waveforms 0 -0.5    0  ,   0  ,  0   -12007 0 5 10 15 20 25 30 35 Time [ns] © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 39
  • CR approach  Principles illustration: Received tension only considering direct path and single-bounce paths Cross-correlation 1 with the local database of predicted Received tension [mV] 0.5 waveforms 0 -0.5    0  ,   0  ,  0   -12007 0 5 10 15 20 25 30 35 Time [ns] © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 40
  • CR approach  Principles illustration: Received tension only considering direct path and single-bounce paths 1 Cross-correlation with the local database of predicted Received tension [mV] 0.5 waveforms 0 -0.5    0  ,   0  ,  0      ,   ,   ,    -1 2007 0 5 10 15 20 25 30 35 1 1 1 1 Time [ns]   ,   ,   ,      ,  1 1 1 1 1 tx ,1 , rx ,1 ,  1  Detection order  Model order © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 41
  • CR approach  Principles illustration: Received tension only considering direct path and single-bounce paths 1 Cross-correlation with the local database of predicted Received tension [mV] 0.5 waveforms 0 -0.5    0  ,   0  ,  0      ,   ,   ,    -12007 0 5 10 15 20 25 30 35 1 1 1 1 Time [ns] ???? Label mapping ambiguity © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 42
  • CR approach  The proposed algorithms aim at linking the available sets of transmission parameters to a couple of nodes coordinates and an environment geometry Received tension only considering direct path and single-bounce paths    ,   ,    0 0 0   1 Dx  1 ,  1 ,  1 , 1 Received tension [mV] 0.5    ,   ,   ,    y2 0 2 2 2 2 Dy    ,   ,   ,    -0.5 3 3 3 3 y1 -1 x1 x2    ,   ,   ,    0 5 10 15 20 25 30 35 Time [ns] 4 4 4 42007 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 43
  • CR approach  The proposed algorithms aim at linking the available sets of transmission parameters to a couple of nodes coordinates and an environment geometry Received tension only considering direct path and single-bounce paths    ,   ,    0 0 0   1 Dx  1 ,  1 ,  1 , 1 Received tension [mV] 0.5    ,   ,   ,    y2 0 2 2 2 2 Dy    ,   ,   ,    -0.5 3 3 3 3 y1 -1 x1 x2    ,   ,   ,    0 5 10 15 20 25 30 35 Time [ns] 4 4 4 42007  The error on  and   depends on the antenna radiation pattern © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 44
  • Tree algorithm for the CR case (1/3)  Transmission parameters (i.e AoIs, AoAs, AoDs and ToAs) are considered as measurements, related to an hidden state • nodes coordinates and room main dimension are the hidden state variables Hidden state (i.e. coordinates Parameters measurements and room dimension)    ,   ,    0 0 0 Dx    ,   ,   ,    1 1 1 1 y2 Dy    ,   ,   ,   2007 2 2 2 2 y1 x1 x2    ,   ,   ,    3 3 3 3    ,   ,   ,    4 4 4 4 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 45
  • Tree algorithm for the CR case (1/3)  Transmission parameters (i.e AoIs, AoAs, AoDs and ToAs) are considered as measurements, related to an hidden state • nodes coordinates and room main dimension are the hidden state variables Hidden state (i.e. coordinates Parameters measurements Estimation tree and room dimension)    ,   ,    0 0 0 a … Dx  , , ,  a b a 1 1 1 1 a b c … b y2 c d c Dy    ,   ,   ,   2007 2 2 2 2 b d e … d f y1 e x1 x2    ,   ,   ,    3 3 3 3 Likelihood-oriented    ,   ,   ,    4 4 4 4 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 46
  • Tree algorithm for the CR case (1/3)  Transmission parameters (i.e AoIs, AoAs, AoDs and ToAs) are considered as measurements, related to an hidden state • nodes coordinates and room main dimension are the hidden state variables  For instance, the true value of the AoI labeled as 1, according to the wall numbering in the model, is bound up with nodes coordinates as follows:2007 and the true distance between nodes is simply: © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 47
  • Tree algorithm for the CR case (1/3)  Transmission parameters (i.e AoIs, AoAs, AoDs and ToAs) are considered as measurements, related to an hidden state • nodes coordinates and room main dimension are the hidden state variables  For instance, the true value of the AoI labeled as 1, according to the wall numbering in the model, is bound up with nodes coordinates as follows:2007 and the true distance between nodes is simply:  The solution detailed in the following does not exploit AoAs and AoDs but only AoIs and ToAs (i.e. MAL, basic algorithm) © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 48
  • Tree algorithm for the CR case (2/3)  Assuming a Gaussian centered noise affecting measurements, a likelihood function can be easily built for each path label mapping2007  4 All the    4 configurations are equally probable a priori 1 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 49
  • Tree algorithm for the CR case (2/3)  Assuming a Gaussian centered noise affecting measurements, a likelihood function can be easily built for each path label mapping  The path label mapping ambiguity is solved using Averaged Likelihood Functions (ALFs)  ALFs are built as mixtures of likelihood functions, weighting equally each path label mapping hypothesis2007 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 50
  • Tree algorithm for the CR case (2/3)  Assuming a Gaussian centered noise affecting measurements, a likelihood function can be easily built for each path label mapping  The path label mapping ambiguity is solved using Averaged Likelihood Functions (ALFs)  ALFs are built as mixtures of likelihood functions, weighting equally each path label mapping hypothesis2007  ALFs are maximized over nodes coordinates and room main dimension Maximum Averaged Likelihood (MAL) algorithm © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 51
  • Tree algorithm for the CR case (3/3)  An extension of MAL algorithm is obtained including AoA and AoD “measurements” (i.e. still through cross-correlation) in the averaged likelihood  extended MAL (eMAL)  Both algorithms share a tree approach Received tension only considering direct path and single-bounce paths 1 Param a 2007Received tension [mV] 0.5 0 -0.5 -1 Param b 0 5 10 15 20 25 30 35 Time [ns] © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 52
  • Tree algorithm for the CR case (3/3)  An extension of MAL algorithm is obtained including AoA and AoD “measurements” (i.e. still through cross-correlation) in the averaged likelihood  extended MAL (eMAL)  Both algorithms share a tree approach Param a Received tension only considering direct path and single-bounce paths 1 Param a Param b 2007Received tension [mV] 0.5 0 Param c -0.5 -1 Param b Param d 0 5 10 15 20 25 30 35 Time [ns] Param e © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 53
  • Tree algorithm for the CR case (3/3)  An extension of MAL algorithm is obtained including AoA and AoD “measurements” (i.e. still through cross-correlation) in the averaged likelihood  extended MAL (eMAL)  Both algorithms share a tree approach Param a Received tension only considering direct path and single-bounce paths 1 Param a Param b Low averaged likelihood 2007Received tension [mV] 0.5 0 Param c Low averaged likelihood -0.5 -1 Param b Param d 0 5 10 15 20 25 30 35 Time [ns] Param e Low averaged likelihood © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 54
  • Tree algorithm for the CR case (3/3)  An extension of MAL algorithm is obtained including AoA and AoD “measurements” (i.e. still through cross-correlation) in the averaged likelihood  extended MAL (eMAL)  Both algorithms share a tree approach Param a Param a Param b Received tension only considering direct path and single-bounce paths 1 Param a Param b Param c 2007Received tension [mV] 0.5 0 Param c Param d -0.5 -1 Param b Param d Param e 0 5 10 15 20 25 30 35 Time [ns] Param e Param f © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 55
  • Tree algorithm for the CR case (3/3)  An extension of MAL algorithm is obtained including AoA and AoD “measurements” (i.e. still through cross-correlation) in the averaged likelihood  extended MAL (eMAL)  Both algorithms share a tree approach Param a Param a Param b Low averaged likelihood Received tension only considering direct path and single-bounce paths 1 Param a Param b Param c 2007Received tension [mV] 0.5 0 Param c Param d Low averaged likelihood -0.5 -1 Param b Param d Param e 0 5 10 15 20 25 30 35 Time [ns] Param e Param f Low averaged likelihood © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 56
  • Tree algorithm for the CR case (3/3)  An extension of MAL algorithm is obtained including AoA and AoD “measurements” (i.e. still through cross-correlation) in the averaged likelihood  extended MAL (eMAL)  Both algorithms share a tree approach Param a … Param a Param b 1 Received tension only considering direct path and single-bounce paths Param a Param b Param c … 2007Received tension [mV] 0.5 0 Param c Param d … -0.5 -1 Param b Param d Param e 0 5 10 15 20 25 30 35 Time [ns] Param e Param f © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 57
  • Tree algorithm for the CR case (3/3)  An extension of MAL algorithm is obtained including AoA and AoD “measurements” (i.e. still through cross-correlation) in the averaged likelihood  extended MAL (eMAL)  Both algorithms share a tree approach Param a … Param a Param b Param a 1 Received tension only considering direct path and single-bounce paths Param a Param b Param c … Param b 2007Received tension [mV] 0.5 0 Param c Param d Param c … -0.5 -1 Param b Param d Param e Param d 0 5 10 15 20 25 30 35 Time [ns] Param e Param f © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 58
  • Ambiguities inherent to static scenarios  AoAs and AoDs are not a priori distinguishable:  channel reciprocity Tx/Rx ambiguity2007 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 59
  • Ambiguities inherent to static scenarios  AoAs and AoDs are not a priori distinguishable:  channel reciprocity Tx/Rx ambiguity  In the lack of global absolute references: 4-image mirror ambiguity2007 true configuration © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 60
  • Ambiguities inherent to static scenarios  AoAs and AoDs are not a priori distinguishable:  channel reciprocity Tx/Rx ambiguity  In the lack of global absolute references: 4-image mirror ambiguity2007 true configuration symmetrical with respect to Y axis configuration © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 61
  • Ambiguities inherent to static scenarios  AoAs and AoDs are not a priori distinguishable:  channel reciprocity Tx/Rx ambiguity  In the lack of global absolute references: 4-image mirror ambiguity2007 true configuration symmetrical with respect to X axis configurations symmetrical with respect to Y axis configuration © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 62
  • Ambiguities inherent to static scenarios  AoAs and AoDs are not a priori distinguishable:  channel reciprocity Tx/Rx ambiguity  In the lack of global absolute references: 4-image mirror ambiguity2007  Therefore, in a static scenario with only two peers, without absolute references, the joint anchor-less localization and environment characterization problem is affected by: • path label mapping ambiguity (to be managed) • Tx/Rx ambiguity (due to the scenario, not to be managed) • 4-image mirror ambiguity (due to the absence of absolute references, not to be managed) © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 63
  • Results in the CR case  Tx/Rx and 4-mirror image ambiguities are compensated by a genius • MAL and eMAL algorithms are just in charge of solving the path label mapping ambiguity    ,   ,   ,    1 1 1 1 ???? Label mapping ambiguity2007 Detection order  Model order © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 64
  • Results in the CR case  Tx/Rx and 4-mirror image ambiguities are compensated by a genius • MAL and eMAL algorithms are just in charge of solving the path label mapping ambiguity  Estimation results obtained with a small, light and cheap antenna (i.e. Middle Alva): extended MAL algorithm (i.e. AoA and AoD information is considered)2007 MAL positioning error CDF MAL algorithm (i.e. AoA and AoD information is omitted) © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 65
  • Results in the CR case  Tx/Rx and 4-mirror image ambiguities are compensated by a genius • MAL and eMAL algorithms are just in charge of solving the path label mapping ambiguity  Estimation results obtained with a small, light and cheap antenna (i.e. Middle Alva): eMAL positioning error CDF extended MAL algorithm (i.e. AoA and AoD information is considered)2007 MAL positioning error CDF MAL algorithm (i.e. AoA and AoD information is omitted) © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 66
  • Results in the CR case  Tx/Rx and 4-mirror image ambiguities are compensated by a genius • MAL and eMAL algorithms are just in charge of solving the path label mapping ambiguity  Estimation results obtained with a small, light and cheap antenna (i.e. Middle Alva): eMAL positioning error CDF Room dimension error CDF2007 MAL positioning error CDF © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 67
  • CR case results: discussion  The previous results are best case results, as they assume a perfect compensation of Tx/Rx and 4-image mirror ambiguities  Tx/Rx ambiguity is expected to be (partially) solved by mobility2007 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 68
  • CR case results: discussion  The previous results are best case results, as they assume a perfect compensation of Tx/Rx and 4-image mirror ambiguities  Tx/Rx ambiguity is expected to be (partially) solved by mobility  Coherent Receiver case assumes a high complexity2007 receiver • very high frequency sampling and floating point precision are beyond the State-of-the-Art of technology  Paths generally overlap, making the estimation of transmission parameters very challenging © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 69
  • Summary  Introduction  Problem Statement  State-of-the-art  Proposed Solutions with an UWB Coherent Receiver (CR)2007  Proposed Solution with an UWB Non-Coherent Receiver (NCR)  Conclusion & Perspectives © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 70
  • NCR case: principles (1/3)  Does the problem have a solution in the frame of the IEEE 802.15.4a standard? • bandwidth compliance, measurement refresh period, Pulse Repetition Period (PRP)2007 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 71
  • NCR case: principles (1/3)  Does the problem have a solution in the frame of the IEEE 802.15.4a standard? • bandwidth compliance, measurement refresh period, Pulse Repetition Period (PRP)  Can the problem be solved targeting low power consumption and low system complexity? • State-of-the-Art sampling frequency is lower than 1 GHz • for the sake of power consumption limitation, the Analog to Digital Converter (ADC) should have less than 6 bits2007 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 72
  • NCR case: principles (1/3)  Does the problem have a solution in the frame of the IEEE 802.15.4a standard? • bandwidth compliance, measurement refresh period, Pulse Repetition Period (PRP)  Can the problem be solved targeting low power consumption and low system complexity? • State-of-the-Art sampling frequency is lower than 1 GHz • for the sake of power consumption limitation, the Analog to Digital Converter (ADC) should have less than 6 bits2007  The Non-Coherent Receiver case assumes a low complexity receiver, according to current State-of-the-Art • under-Nyquist sampling frequency (i.e. 250 MHz) • 4-bits precision of dynamic range © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 73
  • NCR case: principles (2/3)  The Energy Detection (ED) receiver satisfies the low complexity and low sampling frequency requirements2007 f s  250 MHz Nbits  4 bits NF  10 dB © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 74
  • NCR case: principles (3/3)  Because of the poor signal representation available, only the estimated paths ToAs are considered  no need for a database of templates  Path overlapping still must be treated2007 True ToA © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 75
  • NCR case: principles (3/3)  Because of the poor signal representation available, only the estimated paths ToAs are considered  no need for a database of templates  Path overlapping still must be treated2007  In order to solve the Tx/Rx remaining ambiguity, a dynamic scenario has to be considered  The Kalman Filter (KF) is a natural solver for a mobile estimation problem © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 76
  • Tracking Algorithm (1/2)  ToAs of direct path and single-bounce paths considered as measurements making up the observation vector  Nodes coordinates and room dimensions are the hidden state variables to be estimated2007 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 77
  • Tracking Algorithm (1/2)  ToAs of direct path and single-bounce paths considered as measurements making up the observation vector  Nodes coordinates and room dimensions are the hidden state variables to be estimated  The hidden state variables are linked to measurements through non-linear (i.e. trigonometric) equations2007  The innovation is a function of the a priori predicted state and current observation : with the innovation covariance matrix © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 78
  • Tracking Algorithm (2/2)  Path label mapping is treated considering the conditional decision variable that is a Chi-Square variable with 5 degrees of freedom2007 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 79
  • Tracking Algorithm (2/2)  Path label mapping is treated considering the conditional decision variable that is a Chi-Square variable with 5 degrees of freedom  Among the 4! = 24 possible path label mappings, the selected one at each time step is taken as the one showing the highest likelihood2007 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 80
  • Tracking Algorithm Results (1/3)  Tracking assumption: assumed initial conditions close to real initial conditions  unbiased ToAs estimation Tx normalized x coordinate, fs = 0.25 GHz Rx normalized x coordinate, fs = 0.25 GHz 1 1 0.45 True values 0.9 0.55 0.9 Mirror values 0.4 0.5 0.8 0.8 0.35 0.45 Tx normalized x coordinate Rx normalized x coordinate 0.7 0.7 0.4 0.3 0.6 0.6 0.35 0.25 0.5 0.3 0.5 0.2 0.4 0.25 0.4 0.2 0.15 0.3 0.32007 0.15 0.2 True values 0.2 0.1 Mirror values 0.1 0.1 0.1 0.05 0.05 0 0 10 20 30 40 50 60 70 80 90 100 10 20 30 40 50 60 70 80 90 100 Discrete time step Discrete time step X coordinate estimation for Tx X coordinate estimation for Rx PDFs of estimated X coordinates as functions of the time step © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 81
  • Tracking Algorithm Results (2/3)  Tracking assumption: assumed initial conditions close to real initial conditions  unbiased ToAs estimation Tx normalized y coordinate, fs = 0.25 GHz Rx normalized y coordinate, fs = 0.25 GHz 1 0.5 1 0.5 0.9 0.45 0.9 0.45 0.8 0.4 0.8 0.4 True values Mirror values Tx normalized y coordinate Rx normalized y coordinate 0.7 0.35 0.7 0.35 0.6 0.3 0.6 0.3 0.5 0.25 0.5 0.25 0.4 0.2 0.4 0.2 0.3 0.15 0.3 0.15 True values2007 Mirror values 0.2 0.1 0.2 0.1 0.1 0.05 0.1 0.05 0 0 10 20 30 40 50 60 70 80 90 100 10 20 30 40 50 60 70 80 90 100 Discrete time step Discrete time step Y coordinate estimation for Tx Y coordinate estimation for Rx PDFs of estimated Y coordinates as functions of the time step © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 82
  • Tracking Algorithm Results (2/3)  Tracking assumption: assumed initial conditions close to real initial conditions  unbiased ToAs estimation Joint effect of2007 Tx/Rx and mirror ambiguities on coordinates Y coordinate estimation for Tx Y coordinate estimation for Rx © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 83
  • Tracking Algorithm Results (3/3)  Tracking assumption: assumed initial conditions close to real initial conditions  unbiased ToAs estimation Room main dimension Dx , fs = 0.25 GHz Room ratio RD, fs = 0.25 GHz 8 0.55 2 True values 0.5 1.9 0.55 7.5 True values 0.5 0.45 1.8 7 0.45 0.4 1.7 0.4 6.5 0.35 1.6 Dx value [m] 0.35 RD value 0.3 6 1.5 0.3 0.25 1.4 0.25 5.5 0.2 0.2 1.32007 5 0.15 0.15 1.2 0.1 0.1 4.5 0.05 1.1 0.05 4 1 10 20 30 40 50 60 70 80 90 100 10 20 30 40 50 60 70 80 90 100 Discrete time step Discrete time step Dx estimation RD estimation PDFs of estimated room parameters as functions of the time step © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 84
  • Tracking Algorithm Results (3/3)  Tracking assumption: assumed initial conditions close to real initial conditions  unbiased ToAs estimation Environment variables are “locked”2007 Dx estimation RD estimation © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 85
  • Summary  Introduction  Problem Statement  State-of-the-art  Proposed Solutions with an UWB Coherent Receiver (CR)2007  Proposed Solution with an UWB Non-Coherent Receiver (NCR)  Conclusion & Perspectives © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 86
  • Conclusion  Conclusions : • joint anchor-less localization and environment characterization is a challenging problem when only two SISO peers are considered  lots of ambiguities affect the estimation  once the ambiguities are removed, the estimates of the room main dimension and of the nodes positions may be reliable enough • some techniques have been proposed to handle path label mapping ambiguity2007 • the effect of 4-mirror image and Tx/Rx ambiguities on estimation has been investigated    ,   ,   ,    1 1 1 1 ???? Label mapping ambiguity © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 87
  • Conclusion  Conclusions : • joint anchor-less localization and environment characterization is a challenging problem when only two SISO peers are considered  lots of ambiguities affect the estimation  once the ambiguities are removed, the estimates of the room main dimension and of the nodes positions may be reliable enough • some techniques have been proposed to handle path label mapping ambiguity2007 • the effect of 4-mirror image and Tx/Rx ambiguities on estimation has been investigated • under more realistic assumptions (e.g. low complexity, IEEE 802.15.4a standard compliance) encouraging results as regards to nodes tracking (i.e. when assuming an initial state close enough to the true initial state and with unbiased ToAs estimates) © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 88
  • Perspectives  Perspectives: • studying the impact of using an improper database of templates  arbitrary elevation of the antennas  imperfect knowledge of the prior antenna and/or material characterization2007 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 89
  • Perspectives  Perspectives: • studying the impact of using an improper database of templates  arbitrary elevation of the antennas  imperfect knowledge of the prior antenna and/or material characterization • extending the algorithms to a sensor network with more than 2 nodes (i.e. measurement redundancy) and evaluating cooperative approaches for obtaining floor maps (i.e. sharing and merging of local information) • investigating the NLOS case (i.e. filtering effects induced by2007 transmission) and denser multipath profiles © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 90
  • Perspectives  Perspectives: • studying the impact of using an improper database of templates  arbitrary elevation of the antennas  imperfect knowledge of the prior antenna and/or material characterization • extending the algorithms to a sensor network with more than 2 nodes (i.e. measurement redundancy) and evaluating cooperative approaches for obtaining floor maps (i.e. sharing and merging of local information) • investigating the NLOS case (i.e. filtering effects induced by2007 transmission) and denser multipath profiles • demonstrating the benefits of a raw knowledge of the indoor environment for the network optimization (e.g. context-aware routing protocols) • compare estimation results obtained considering real measurements with them issued from simulations © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 91
  • Publications et Patents  Communications accepted to international conferences: • V. La Tosa, B. Denis, B. Uguen, “Impact of Antennas on the Anchor-less Indoor Localization of a Static IR-UWB Pair”, IEEE PIMRC 2010, Istanbul, September 2010 • V. La Tosa, B. Denis, B. Uguen, “Maximum Averaged Likelihood Estimation Tree for Passive Localization Exploiting IR-UWB Multipath”, IEEE VTC-Spring’10, Taipei, May 2010 • V. La Tosa, B. Denis, B. Uguen, “A Preliminary Investigation on Angular Parameters Estimation in a Simplified IR-UWB Indoor Multipath Scenario”, IEEE WCNC’09, Budapest, April 2009 • V. La Tosa, B. Denis, F. Tchoffo-Talom, B. Uguen, “Joint Directions Finding and Material Typecasting through UWB Wireless Communications”, IEEE PIMRC’08, Cannes, September 2008 • V. La Tosa, B. Denis, B. Uguen, “Direct Path DoA and DoD Finding Through IR-UWB Communications”, IEEE ICUWB’08, Hanover, September 20082007  PCT Patent: • V. La Tosa, B. Denis, F. Tchoffo-Talom, B. Uguen, “Method and System for Aiding Environmental Characterization by Ultra Wide Band Radiofrequency Signals”, patent id PCT/EP2008/067569, November 2009  European project deliverables: • V. La Tosa, et al., Deliverable 4.1.1 of European project ICT IP « eUWB », April 2009 • V. La Tosa, et al., Deliverable 4.1.2a of European project ICT IP « eUWB », May 2010 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 92
  • 20102007 Thank you for your attention vincenzo.latosa@gmail.com © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 93
  • Going further… Direct path parameters estimation results2007 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 94
  • AoD-AoA joint error  Ep/N0 = 20 dB:  CM antenna (a)  Cardioid antenna (b)2007 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 95
  • Going further… Material recognition success rates under square room assumption2007 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 96
  • Material Typecasting  Material recognition success rates:2007 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 97
  • Going further… Parameters estimation under rectangular room assumption2007 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 98
  • AoD-AoA joint error  PDFs of the AoIs in a rectangular room:  largest edges (a)  smallest edges (b)2007 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 99
  • Going further… Multipath Components Cleaning Process with Rejection Window2007 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 100
  • Iteration 12007 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 101
  • Iteration 22007 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 102
  • Iteration 32007 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 103
  • Going further… UWB Measurements at Université de Rennes 1 (WHERE project)2007 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 104
  • UWB Rx References (RSS/TOA/UWB FP) True track UWB measurements UWB Rx Referenc es (RSS/TOA/UWB FP) Base Station (FP Only) Base Station (FP Only) True track RSS+TOA, EKF RSS+TOA, EKF FP (PDP), EKF RSS+TOA+FP, EKF UWB FP (5 Est. Path [TOA + Amp] wrt. 2 Rxs), EKF FP (PDP), EKF UWB FP (5 Est. Path [TOA + Amp] wrt. 4 Rxs), EKF RSS+TOA+FP, EKF UWB FP (5 Est. Path [TOA + Amp] wrt. 2 Rxs), EKF UWB FP (5 Est. Path [TOA + Amp] wrt. 4 Rxs), EKF Position error [m] 4 RSS+TOA, EKF FP (PDP), EKF 2 RSS+TOA+FP(PDP), EKF UWB FP (5 Est. Paths wrt. 2 Rxs), EKF 0 UWB FP (5 Est. Path wrt. 4 Rxs), EKF 0 10 20 30 40 50 60 70 80 90 Time [s] Position error [m]2007 4 RSS+TOA, EKF FP (PDP), EKF 2 RSS+TOA+FP(PDP), EKF UWB FP (5 Est. Paths wrt. 2 Rxs), EKF 0 UWB FP (5 Est. Path wrt. 4 Rxs), EKF 0 10 20 30 40 50 60 70 80 90 Time [s] © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 105
  • UWB measurements UWB Rx Referenc es (RSS/TOA/UWB FP) Base Station (FP Only) True track RSS+TOA, EKF FP (PDP), EKF RSS+TOA+FP, EKF UWB FP (5 Est. Path [TOA + Amp] wrt. 2 Rxs), EKF UWB FP (5 Est. Path [TOA + Amp] wrt. 4 Rxs), EKF Real measurements of a mobile UWB channel Energie Reçue (dB) Position error [m] 2007 4 RSS+TOA, EKF FP (PDP), EKF 2 RSS+TOA+FP(PDP), EKF UWB FP (5 Est. Paths wrt. 2 Rxs), EKF 0 UWB FP (5 Est. Path wrt. 4 Rxs), EKF 0 10 20 30 40 50 60 70 80 90 Time [s]Tx position(trajectory) © CEA 2008. Tous droits réservés. Acquisition time window Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 106
  • UWB Rx References (RSS/TOA/UWB FP) True track UWB measurements UWB Rx Referenc es (RSS/TOA/UWB FP) Base Station (FP Only) Base Station (FP Only) True track RSS+TOA, EKF RSS+TOA, EKF FP (PDP), EKF RSS+TOA+FP, EKF UWB FP (5 Est. Path [TOA + Amp] wrt. 2 Rxs), EKF FP (PDP), EKF UWB FP (5 Est. Path [TOA + Amp] wrt. 4 Rxs), EKF RSS+TOA+FP, EKF UWB FP (5 Est. Path [TOA + Amp] wrt. 2 Rxs), EKF UWB FP (5 Est. Path [TOA + Amp] wrt. 4 Rxs), EKF Position error [m] 4 RSS+TOA, EKF FP (PDP), EKF 2 RSS+TOA+FP(PDP), EKF Real measurements of a mobile UWB channel Deterministic simulations, i.e. Ray-Tracing tool 0 UWB FP (5 Est. Paths wrt. 2 Rxs), EKF UWB FP (5 Est. Path wrt. 4 Rxs), EKF 0 10 20 30 40 50 60 70 80 90 Time [s] Energie Reçue (dB) Position error [m] 2007 4 RSS+TOA, EKF FP (PDP), EKF 2 RSS+TOA+FP(PDP), EKF UWB FP (5 Est. Paths wrt. 2 Rxs), EKF 0 UWB FP (5 Est. Path wrt. 4 Rxs), EKF 0 10 20 30 40 50 60 70 80 90 Time [s]Tx position(trajectory) © CEA 2008. Tous droits réservés. Acquisition time window Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 107
  • UWB Rx References (RSS/TOA/UWB FP) True track UWB measurements UWB Rx Referenc es (RSS/TOA/UWB FP) Base Station (FP Only) Base Station (FP Only) True track RSS+TOA, EKF RSS+TOA, EKF FP (PDP), EKF RSS+TOA+FP, EKF UWB FP (5 Est. Path [TOA + Amp] wrt. 2 Rxs), EKF FP (PDP), EKF UWB FP (5 Est. Path [TOA + Amp] wrt. 4 Rxs), EKF RSS+TOA+FP, EKF UWB FP (5 Est. Path [TOA + Amp] wrt. 2 Rxs), EKF UWB FP (5 Est. Path [TOA + Amp] wrt. 4 Rxs), EKF Position error [m] 4 RSS+TOA, EKF FP (PDP), EKF 2 RSS+TOA+FP(PDP), EKF Real measurements of a mobile UWB channel Deterministic simulations, i.e. Ray-Tracing tool 0 UWB FP (5 Est. Paths wrt. 2 Rxs), EKF UWB FP (5 Est. Path wrt. 4 Rxs), EKF 0 10 20 30 40 50 60 70 80 90 Time [s] Energie Reçue (dB) Position error [m] 2007 4 RSS+TOA, EKF FP (PDP), EKF 2 RSS+TOA+FP(PDP), EKF UWB FP (5 Est. Paths wrt. 2 Rxs), EKF Multipath signal can50be reliably90 0 0 10 20 30 40 60 70 80 predicted UWB FP (5 Est. Path wrt. 4 Rxs), EKF Time [s]Tx position(trajectory) © CEA 2008. Tous droits réservés. Acquisition time window Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 108
  • Going further… Simulation parameters for MAL and eMAL2007 algorithms © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 109
  • MAL and eMAL parameters2007 © CEA 2008. Tous droits réservés. Toute reproduction totale ou partielle sur quelque support que ce soit ou utilisation du contenu de ce document est interdite sans l’autorisation écrite préalable du CEA All rights reserved. Any reproduction in whole or in part on any medium or use of the information contained herein is prohibited without the prior written consent of CEA Ultra Wide Band Multipath Exploitation for Anchor-less Localization and Indoor Environment Characterization - V. La Tosa - 03/12/10 110