Technical Presentation Vlt 10 12 03

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Technical Presentation Vlt 10 12 03

  1. 1. 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
  2. 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 2
  3. 3. 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
  4. 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 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
  5. 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 © 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
  6. 6. 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
  7. 7. 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
  8. 8. 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
  9. 9. 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
  10. 10. 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
  11. 11. 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
  12. 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 © 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
  13. 13. 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
  14. 14. 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
  15. 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 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
  16. 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)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
  17. 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 © 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
  18. 18. 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
  19. 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 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
  20. 20. 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
  21. 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  ,  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
  22. 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 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
  23. 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,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
  24. 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  ,  , 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
  25. 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 , 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
  26. 26. 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
  27. 27. 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
  28. 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 28
  29. 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 29
  30. 30. 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
  31. 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 © 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
  32. 32. 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
  33. 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 © 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
  34. 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 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
  35. 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 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
  36. 36. 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
  37. 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) 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
  38. 38. 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
  39. 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 39
  40. 40. 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
  41. 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      ,   ,   ,    -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
  42. 42. 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
  43. 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 © 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
  44. 44. 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
  45. 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 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
  46. 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 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
  47. 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: © 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
  48. 48. 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
  49. 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 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
  50. 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 © 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
  51. 51. 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

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