This document summarizes the development of a mobile locationing system using video, an inertial measurement unit (IMU), and a wireless network. The system was developed using a BeagleBoard-XM embedded platform connected to a 3G network. Video from a camera was compressed on the DSP of the BeagleBoard and transmitted over the wireless network. An IMU provided positioning data that was sent over the network. Testing showed the system could estimate positions and stream video while drawing between 698-1.16 amps of current depending on whether video compression used the ARM or DSP processors. Future work includes displaying trajectories, power optimization, using MQTT protocols, and casing design.

1. Development of a Mobile Locationing System
Using a Video, IMU and Wireless network
M Naga Raju
Under the guidance of
Prof. Bharadwaj Amrutur
Department of ECE,
Indian Institute of Science, Bangalore
January 28, 2013

2. Out Line
INTRODUCTION
SYSTEM INTEGRATION
BeagleBoard-xM as Embedded platform
Connecting BeagleBoard-xM to 3G Network
DSP –LINK Modules
Camera Interface Modules
Power Supply
RUNNING VIDEO CODEC ON DSP
IMU (Interfacing the OpenShoe)
POWER MANAGEMENT
RESULTS
FUTURE WORK

3. Introduction
There is a need of an accurate Locationing system that can
be used indoors. Such a system can be used in applications
like anti-terrorist operations, Fire-Fighters, etc and other
disaster management situations.
The knowledge of where a person is and what he can see
(Live video stream) can be of immense help and can save
many lives in such situations.
The work in this project involves development of a locationing
system, that is capable of estimating position of a person and
streaming video over the wireless network.
The Video Stream from camera is compressed on DSP side of
the BeagleBoard-xM and transmitted over Wireless network to
the local host. The IMU is based on the work done under the
Project OpenShoe.

4. Introduction
Figure: solider positioning in urban operation

5. SYSTEM INTEGRATION
Figure: system Integration

6. SYSTEM INTEGRATION
Figure: System Integration

7. BeagleBoard-xM as Embedded platform
The Micro-SD card used to Boot the BeagleBoard-xM. .
Building the Linux Image
1. Open Embedded(angstrom distribution[2])
2. Build root
Figure: BeagleBoard-xM

8. Connecting BeagleBoard-xM to 3G Network
USBmodeswitch $PPPD tools used to dial-up the connection
through 3G USB modem.
These tools and Scripts useful to connect through terminal
commands.
By this network interface, service provider will provides the Dynamic IP address.IP address used in
Sever/Client program and GStreamer Pipeline
Figure: 3G USB Modem

9. Camera Interface Modules
These USB cameras can be easily interfaced to Linux using
the UVC (Universal Video Class) driver
These kernel modules are created during the Build process of
Angstrom.
$opkg install kernel-module-uvcVideo
Figure: Logitech USB Camera

10. POWER SUPPLY
A Regulated 5V DC supply required to Power Up BeagleBoard-xM.
This power supplied by SMPS circuit connected to Lithium-ion
1500mAh Battery.
Figure: SMPS LM2576

11. DSP –LINK MODULES
BeagleBoard –xM has an ARM cortex A8 processor
(Angstrom) and C64x DSP (DSP BIOs).
For Inter Processor Communication(IPC) between the DSP
and the ARM there are two mechanisms
(i) DSPBRIDGE
(ii) DSPLINK
For working on the DSP, three modules are required
(i) dsplinkk.ko (Provides API’s for IPC)
(ii) cmemk.ko (Memory allocation)
(iii) lpm driver.ko (Switching ON and OFF the DSP)
U-Boot will allocate the memory for the kernel and DSP at the time
of booting. Kernel automatically loads modules after Linux booting.

12. RUNNING VIDEO CODEC ON DSP
The DSP on BeagleBoard-xM enable to use for Video compression.
This will free up the ARM cortex A8 processor CPU load and also
help reduce the time required for Video Compression.
GStreamer-Ti program which enables DSP for Video Compression.
GStreamer-Ti uses DSPLINK for Inter Processor
Communication(IPC).
The GStreamer-Ti[4] DMAI plug-in uses the Davinci Multimedia
Application Interface to enable use of the DSP on the
BeagleBoard-xM .
GStreamer is run as an application on the ARM processor and
through the use of DMAI is able to interact with the DSP modules
to compress the Video streams.

13. RUNNING VIDEO CODEC ON DSP
H.264 RTP Streaming : GStreamer Pipeline to Encode Video and
Stream Video using RTP .
$gst-launch v v4l2src device=/dev/video1 ! video/xrawyuv, width=640, height=480,framerate=(fraction )30/1 !
ffmpegcolorspace ! TIVidenc1 codecName=h264enc engineName=codecServer ! rtph264pay pt=96 ! udpsink
host=192.168.0.5 port=5004
Figure: DM3730 Software Architecture

14. RUNNING VIDEO CODEC ON DSP
Figure: GStreamer Plug–in Interface
H.264 RTP Streaming : GStreamer Pipeline to receive the RTP
Video stream and store Video on Command center.
$gst–launch –v udpsrc port=5004 caps=”¡caps form server ¿” ! rtph264depay ! ffdec h264 ! ffmpegcolorspace !
tee name=my videosink ! ffmpegcolorspace ! videorate ! video/x–raw-yuv,framerate=5/1 ! ffmpegcolorspace !
jpegenc ! avimux ! filesink location=/media/BBproject/pro video/stream 4.avi my videosink. ! queue !
ximagesink sync=false

15. IMU (Interfacing the OpenShoe)
Figure: Inertial Measurement Unit
The implementation can be divided into following steps[5]
(i) Receive Data from USB (Virtual serial Port)
(ii) Remove the headers, change the endianness of data, store in local variables.
(iii) Timestamps the data.
(iv) Convert to JSON format.
(v) Send data over Wireless channel using TCP.
(vi)Receive data and parse it using JSON parser.
(vii)Real-time plot of Trajectory using GNUPlot

16. POWER MANAGEMENT
BeagleBoard-xM Processor Support A Rich Set Of Power
Management Techniques
Dynamic Voltage Scaling
Dynamic Frequency Scaling
$echo 600000 /sys/devices/system/cpu/cpu0/cpufreq/scaling setspeed
Clocks Gating (Done By Kernel While Bootup)
Disable Unused Modules[6]
Power management IC TPS65950 on BeagleBoard- Xm has Provision of communication with BeagleBoard
through Specific I2C (Inter IC) Module I2C.1.
Example –Disable of AUX 3v3v, This Result save Power Consumption of 120mA.

17. RESULTS
The Plot trajectory was taken at SP Building corridor using 3G
Network as Wireless communication.Video Streaming specification
set as 320x240 Pixels, h.264 format, 30 fps.
Figure: Plot of Trajectory

18. RESULTS
Power Consumption:
Applied Voltage 5.9V from DC Power Supply.
$ Current Drawn during Booting Process—300 mA. . . 600 mA
$ Current Drawn after connecting WiFi —836 mA
$ Current Drawn after Disabling of AUX 3V3 —698 mA
$ Current Drawn during Video codec running on ARM—1.02A
Avg Bitrate 450 kbps
$ Current Drawn during Video Codec running on DSP —1.16A
Avg Bitrate 100 kbps

19. FUTURE WORK
(i) Displaying Path Trajectory on BeagleBoard–xM.
(ii) Power Optimization.
(iii) Using MQTT-S Protocol for Server/Client program.
(iv) Casing Design for BeagleBoard-xM, Power Supply and Battery.

20. Bibliography
[1]Texas Instruments BeagleBoard–xM
HTTP//WWW.beagleboard.org.
[2]Angstrom Distribution http//www.angstrom–distribution.org/.
[3] GStreamerhttp//gstreamer.freedesktop.org/
[4]GStreamer–Ti GStreamer Plugins for DSP
http//code.google.com/p/gst–dsp/
[5] Dr. Isaac Skog John Olof Nilsson, 2011. available at
http//www.openshoe.org/
[6] TPS65950 Data Manual and Technical Reference Manual
http//www.ti.com/litv/pdf/swcs032e
http//www.ti.com/general/docs/lit/getliterature.tsp?literatureNumber=s
fileType=pdf http//www.ti.com/litv/pdf/swcu050g

21. Thank You