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Indoo.rs calibre

Unsupervised, database-free RSSI Calibration for Indoor Navigation

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Indoo.rs calibre

  1. 1. 1 indoo.rs CaLibre Unsupervised Database Free RSSI Calibration Indoor Navigation Boxian Dong (indoo.rs, TU Wien), Thomas Burgess (indoo.rs), Hans-Berndt Neuner (TU Wien) ENC 2017, Lausanne, May, 2017
  2. 2. CaLibre - Boxian Dong <boxian@indoo.rs> - ENC2017 indoo.rs GmbH. 2 Positioning & Navigation Asset Tracking Analytics
  3. 3. CaLibre - Boxian Dong <boxian@indoo.rs> - ENC2017 ➔ indoo.rs localization relies on RSSI fingerprint maps ➔ SLAM Engine (SE) ◆ Generates initial radio maps ◆ Uses radio data from dedicated recordings ➔ SLAM Crowd Engine (SCE) ◆ Updates, improve and expand radio maps ◆ Uses radio data crowd sourced from navigating users indoo.rs SLAM crowd engine™. 3 Radio map Update Error estimation CaLibre SLAM Localization
  4. 4. CaLibre - Boxian Dong <boxian@indoo.rs> - ENC2017 ➔ RSSI must be made comparable ◆ RSSI only indicates relative power level ◆ RSSI characteristics differ between devices ◆ Crowd data combines many different devices ➔ CaLibre is our approach to this problem ◆ Calibrate all inputs in every job ● No need for a hard to maintain database ◆ Form tiles by grouping scans close to each other ● Scans in each group should have same power level ◆ Correlate differences all single tiles ● Create set of comparable samples ◆ Find linear relations from comparable samples RSSI calibration. 4
  5. 5. CaLibre - Boxian Dong <boxian@indoo.rs> - ENC2017 CaLibre: signal preprocessing. signal preprocessing Input recordings building radio maps grouping scans calibration sample creation offset and slope regression calibration results denoised signal grouping index scanned signal building statistic comparable RSSIs High Noise ± 10dB Missing signals Sliding window average based noise reduction 5
  6. 6. CaLibre - Boxian Dong <boxian@indoo.rs> - ENC2017 CaLibre: grouping scans in tiles. signal preprocessing Input recordings building radio maps grouping scans calibration sample creation offset and slope regression calibration results denoised signal grouping index scanned signal building statistic comparable RSSIs Group scans by ➔ Overlapping networks ➔ Having higher power than a relative power threshold (part of total visible area) 6
  7. 7. CaLibre - Boxian Dong <boxian@indoo.rs> - ENC2017 CaLibre: grouping scans in tiles. signal preprocessing Input recordings building radio maps grouping scans calibration sample creation offset and slope regression calibration results denoised signal grouping index scanned signal building statistic comparable RSSIs ➔ Low network overlap ➔ Low power threshold ➔ High network overlap ➔ High power threshold 7
  8. 8. CaLibre - Boxian Dong <boxian@indoo.rs> - ENC2017 CaLibre: calibration sample creation. signal preprocessing Input recordings building radio maps grouping scans calibration sample creation offset and slope regression calibration results denoised signal grouping index scanned signal building statistic comparable RSSIs ➔ High Noise ➔ Large fading effects (bluetooth signal) ➔ Compute median and weight 8
  9. 9. CaLibre - Boxian Dong <boxian@indoo.rs> - ENC2017 CaLibre: regression. signal preprocessing Input recordings building radio maps grouping scans calibration sample creation offset and slope regression calibration results denoised signal grouping index scanned signal building statistic comparable RSSIs ➔ One sample per network per tile ➔ Using weighted Ridge regression ◆ Computationally cheap while robust to noise ➔ Linear fit ◆ a - slope a ◆ Δ80 - offset at -80dB 9
  10. 10. CaLibre - Boxian Dong <boxian@indoo.rs> - ENC2017 CaLibre: test results. 10 ➔ Calibrate multiple 1~2 minutes recordings ➔ Summarize statistically calibration results between same pair devices ➔ Comparing Calibre results with manual results
  11. 11. CaLibre - Boxian Dong <boxian@indoo.rs> - ENC2017 CONCLUSIONS: ➔ Calibrate RSSI reading between recordings ➔ Tiling parameters depend on radio environments ➔ Less efficient in recovery Slope CaLibre: conclusions. 11 OUTLOOK: ➔ Calibration between recording and radio map ➔ Tiling parameter further optimization ➔ Multiple recording calibration
  12. 12. CaLibre - Boxian Dong <boxian@indoo.rs> - ENC2017 Boxian Dong Senior researcher 12

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