Experimental Comparison of Bluetooth and WiFi Signal Propagation for Indoor Localisation

Systems for indoor positioning using radio technologies are largely studied due to their convenience and the market opportunities they offer. The positioning algorithms typically derive geographic coordinates from observed radio signals and hence good understanding of the indoor radio channel is required. In this paper we investigate several factors that affect signal propagation indoors for both Bluetooth and WiFi. Our goal is to investigate which factors can be disregarded and which should be considered in the development of a positioning algorithm. Our results show that technical factors such as device characteristics have smaller impact on the signal than multipath propagation. Moreover, we show that propagation conditions differ in each direction. We also noticed that WiFi and Bluetooth, despite operating in the same radio band, do not at all times exhibit the same behaviour.

Investigation on the evolution of an indoor robotic localization system based on wireless networks

This work addresses the evolution of an artificial neural network (ANN) to assist in the problem of indoor robotic localization. We investigate the design and building of an autonomous localization system based on information gathered from wireless networks (WN). The article focuses on the evolved ANN, which provides the position of a robot in a space, as in a Cartesian coordinate system, corroborating with the evolutionary robotic research area and showing its practical viability. The proposed system was tested in several experiments, evaluating not only the impact of different evolutionary computation parameters but also the role of the transfer functions on the evolution of the ANN. Results show that slight variations in the parameters lead to significant differences on the evolution process and, therefore, in the accuracy of the robot position.

Localization and activity detection Based on the fusion of environment And inertial sensors = Localización y detección de actividad Basadas en integración de sensores y dispositivos inerciales

Los sensores inerciales (acelerómetros y giróscopos) se han ido introduciendo poco a poco en dispositivos que usamos en nuestra vida diaria gracias a su minituarización. Hoy en día todos los smartphones contienen como mínimo un acelerómetro y un magnetómetro, siendo complementados en losmás modernos por giróscopos y barómetros. Esto, unido a la proliferación de los smartphones ha hecho viable el diseño de sistemas basados en las medidas de sensores que el usuario lleva colocados en alguna parte del cuerpo (que en un futuro estarán contenidos en tejidos inteligentes) o los integrados en su móvil. El papel de estos sensores se ha convertido en fundamental para el desarrollo de aplicaciones contextuales y de inteligencia ambiental. Algunos ejemplos son el control de los ejercicios de rehabilitación o la oferta de información referente al sitio turístico que se está visitando. El trabajo de esta tesis contribuye a explorar las posibilidades que ofrecen los sensores inerciales para el apoyo a la detección de actividad y la mejora de la precisión de servicios de localización para peatones. En lo referente al reconocimiento de la actividad que desarrolla un usuario, se ha explorado el uso de los sensores integrados en los dispositivos móviles de última generación (luz y proximidad, acelerómetro, giróscopo y magnetómetro). Las actividades objetivo son conocidas como ‘atómicas’ (andar a distintas velocidades, estar de pie, correr, estar sentado), esto es, actividades que constituyen unidades de actividades más complejas como pueden ser lavar los platos o ir al trabajo. De este modo, se usan algoritmos de clasificación sencillos que puedan ser integrados en un móvil como el Naïve Bayes, Tablas y Árboles de Decisión. Además, se pretende igualmente detectar la posición en la que el usuario lleva el móvil, no sólo con el objetivo de utilizar esa información para elegir un clasificador entrenado sólo con datos recogidos en la posición correspondiente (estrategia que mejora los resultados de estimación de la actividad), sino también para la generación de un evento que puede producir la ejecución de una acción. Finalmente, el trabajo incluye un análisis de las prestaciones de la clasificación variando el tipo de parámetros y el número de sensores usados y teniendo en cuenta no sólo la precisión de la clasificación sino también la carga computacional. Por otra parte, se ha propuesto un algoritmo basado en la cuenta de pasos utilizando informaiii ción proveniente de un acelerómetro colocado en el pie del usuario. El objetivo final es detectar la actividad que el usuario está haciendo junto con la estimación aproximada de la distancia recorrida. El algoritmo de cuenta pasos se basa en la detección de máximos y mínimos usando ventanas temporales y umbrales sin requerir información específica del usuario. El ámbito de seguimiento de peatones en interiores es interesante por la falta de un estándar de localización en este tipo de entornos. Se ha diseñado un filtro extendido de Kalman centralizado y ligeramente acoplado para fusionar la información medida por un acelerómetro colocado en el pie del usuario con medidas de posición. Se han aplicado también diferentes técnicas de corrección de errores como las de velocidad cero que se basan en la detección de los instantes en los que el pie está apoyado en el suelo. Los resultados han sido obtenidos en entornos interiores usando las posiciones estimadas por un sistema de triangulación basado en la medida de la potencia recibida (RSS) y GPS en exteriores. Finalmente, se han implementado algunas aplicaciones que prueban la utilidad del trabajo desarrollado. En primer lugar se ha considerado una aplicación de monitorización de actividad que proporciona al usuario información sobre el nivel de actividad que realiza durante un período de tiempo. El objetivo final es favorecer el cambio de comportamientos sedentarios, consiguiendo hábitos saludables. Se han desarrollado dos versiones de esta aplicación. En el primer caso se ha integrado el algoritmo de cuenta pasos en una plataforma OSGi móvil adquiriendo los datos de un acelerómetro Bluetooth colocado en el pie. En el segundo caso se ha creado la misma aplicación utilizando las implementaciones de los clasificadores en un dispositivo Android. Por otro lado, se ha planteado el diseño de una aplicación para la creación automática de un diario de viaje a partir de la detección de eventos importantes. Esta aplicación toma como entrada la información procedente de la estimación de actividad y de localización además de información almacenada en bases de datos abiertas (fotos, información sobre sitios) e información sobre sensores reales y virtuales (agenda, cámara, etc.) del móvil. Abstract Inertial sensors (accelerometers and gyroscopes) have been gradually embedded in the devices that people use in their daily lives thanks to their miniaturization. Nowadays all smartphones have at least one embedded magnetometer and accelerometer, containing the most upto- date ones gyroscopes and barometers. This issue, together with the fact that the penetration of smartphones is growing steadily, has made possible the design of systems that rely on the information gathered by wearable sensors (in the future contained in smart textiles) or inertial sensors embedded in a smartphone. The role of these sensors has become key to the development of context-aware and ambient intelligent applications. Some examples are the performance of rehabilitation exercises, the provision of information related to the place that the user is visiting or the interaction with objects by gesture recognition. The work of this thesis contributes to explore to which extent this kind of sensors can be useful to support activity recognition and pedestrian tracking, which have been proven to be essential for these applications. Regarding the recognition of the activity that a user performs, the use of sensors embedded in a smartphone (proximity and light sensors, gyroscopes, magnetometers and accelerometers) has been explored. The activities that are detected belong to the group of the ones known as ‘atomic’ activities (e.g. walking at different paces, running, standing), that is, activities or movements that are part of more complex activities such as doing the dishes or commuting. Simple, wellknown classifiers that can run embedded in a smartphone have been tested, such as Naïve Bayes, Decision Tables and Trees. In addition to this, another aim is to estimate the on-body position in which the user is carrying the mobile phone. The objective is not only to choose a classifier that has been trained with the corresponding data in order to enhance the classification but also to start actions. Finally, the performance of the different classifiers is analysed, taking into consideration different features and number of sensors. The computational and memory load of the classifiers is also measured. On the other hand, an algorithm based on step counting has been proposed. The acceleration information is provided by an accelerometer placed on the foot. The aim is to detect the activity that the user is performing together with the estimation of the distance covered. The step counting strategy is based on detecting minima and its corresponding maxima. Although the counting strategy is not innovative (it includes time windows and amplitude thresholds to prevent under or overestimation) no user-specific information is required. The field of pedestrian tracking is crucial due to the lack of a localization standard for this kind of environments. A loosely-coupled centralized Extended Kalman Filter has been proposed to perform the fusion of inertial and position measurements. Zero velocity updates have been applied whenever the foot is detected to be placed on the ground. The results have been obtained in indoor environments using a triangulation algorithm based on RSS measurements and GPS outdoors. Finally, some applications have been designed to test the usefulness of the work. The first one is called the ‘Activity Monitor’ whose aim is to prevent sedentary behaviours and to modify habits to achieve desired objectives of activity level. Two different versions of the application have been implemented. The first one uses the activity estimation based on the step counting algorithm, which has been integrated in an OSGi mobile framework acquiring the data from a Bluetooth accelerometer placed on the foot of the individual. The second one uses activity classifiers embedded in an Android smartphone. On the other hand, the design of a ‘Travel Logbook’ has been planned. The input of this application is the information provided by the activity and localization modules, external databases (e.g. pictures, points of interest, weather) and mobile embedded and virtual sensors (agenda, camera, etc.). The aim is to detect important events in the journey and gather the information necessary to store it as a journal page.

Desarrollo de aplicaciones android usando la tecnología wifi-direct

Este proyecto de fin de grado pretende demostrar la importancia y la utilidad de la creación de redes de dispositivos móviles conectados entre sí. Para ello se explicarán varios tipos de redes inalámbricas que permiten estas conexiones directas entre dispositivos sin la necesidad de un servidor. En estas redes inalámbricas se destacan las redes P2P y las redes Ad-hoc, las cuales se explicarán posteriormente. El despliegue de estas redes se puede encontrar en un amplio rango de campos como puede ser la agricultura, la medicina e incluso en el ámbito militar. Es objetivo de este proyecto, además, el estudio de la tecnología Wi-Fi Direct creada por la Wi-Fi Alliance. Como se explicará a lo largo del proyecto, Wi-Fi Direct está basado en las redes P2P. Esta tecnología permite a los dispositivos cercanos crear redes P2P a través de la red Wi-Fi sin la necesidad de un punto de acceso a Internet. Por otro lado, una gran cantidad de los dispositivos móviles que existen actualmente poseen el sistema operativo Android. Android ha incorporado en sus dispositivos más recientes la tecnología Wi-Fi Direct. Debido a ello han ido surgiendo aplicaciones que usando esta tecnología consiguen desde enviar ficheros hasta indicar la localización de un usuario. Esta tecnología combinada con este tipo de dispositivos puede ser muy útil para utilizar en casos de emergencia donde las infraestructuras de comunicaciones no estén disponibles ya que al no necesitar un punto de acceso a internet es posible la comunicación entre un usuario en peligro y otro que se encuentre dentro de un radio cercano. Por estos motivos otro de los principales objetivos de este proyecto es la implementación de una aplicación para dispositivos Android que use la tecnología Wi-Fi Direct para realizar varias funcionalidades diferentes, como es el intercambio de ficheros entre dispositivos y la creación de un chat para la comunicación simultanea entre dos dispositivos. Con esto se pretende conocer mejor el funcionamiento de la tecnología Wi-Fi Direct y demostrar su utilidad en los dispositivos móviles como son los dispositivos Android. ABSTRACT. This final degree Project tries to demonstrate the importance and utility of networking mobile devices. For this purpose several types of wireless networks will be explained. These networks allow direct connections between devices. The most prominent Wireless networks are P2P and Ad-hoc which will be explained later. The use of these networks can be found in a wide range of fields such as agriculture medicine, and even in the military sector. Besides, other aim of this project is the study of Wi-Fi Direct Technology which is created by Wi-Fi Alliance. As it explained along the project, Wi-Fi Direct is based on P2P networks. This technology lets nearby devices create P2P networks through Wi-Fi network without an Internet access point. On the other hand, a large number of mobile devices have the Android OS. Android has integrated Wi-Fi Direct technology in its latest devices. Because of this applications have emerged that using this technology they get from sending files to send the user’s location. This technology combined with these devices can be very useful to use in emergencies where communications infrastructures are not available. Since not need an Internet access point, communication between a user in danger and another within close radius is possible. For these reasons another of the main aims of this project is the implementation of an application for Android devices which use Wi-Fi Direct technology to perform several different functionalities, such as file exchange or chat for simultaneous communication between devices. This is intended to better understand the operation of Wi-Fi Direct technology and prove its utility on mobile devices such as Android devices.

A modified particle filter for simultaneous robot localization and landmark tracking in an indoor environment

This paper presents the implementation of a modified particle filter for vision-based simultaneous localization and mapping of an autonomous robot in a structured indoor environment. Through this method, artificial landmarks such as multi-coloured cylinders can be tracked with a camera mounted on the robot, and the position of the robot can be estimated at the same time. Experimental results in simulation and in real environments show that this approach has advantages over the extended Kalman filter with ambiguous data association and various levels of odometric noise.

Person Localization Using Sensor Information Fusion

Nowadays the incredible grow of mobile devices market led to the need for location-aware applications. However, sometimes person location is difficult to obtain, since most of these devices only have a GPS (Global Positioning System) chip to retrieve location. In order to suppress this limitation and to provide location everywhere (even where a structured environment doesn’t exist) a wearable inertial navigation system is proposed, which is a convenient way to track people in situations where other localization systems fail. The system combines pedestrian dead reckoning with GPS, using widely available, low-cost and low-power hardware components. The system innovation is the information fusion and the use of probabilistic methods to learn persons gait behavior to correct, in real-time, the drift errors given by the sensors.

Localization system for pedestrians based on sensor and information fusion

Nowadays there is an increase of location-aware mobile applications. However, these applications only retrieve location with a mobile device's GPS chip. This means that in indoor or in more dense environments these applications don't work properly. To provide location information everywhere a pedestrian Inertial Navigation System (INS) is typically used, but these systems can have a large estimation error since, in order to turn the system wearable, they use low-cost and low-power sensors. In this work a pedestrian INS is proposed, where force sensors were included to combine with the accelerometer data in order to have a better detection of the stance phase of the human gait cycle, which leads to improvements in location estimation. Besides sensor fusion an information fusion architecture is proposed, based on the information from GPS and several inertial units placed on the pedestrian body, that will be used to learn the pedestrian gait behavior to correct, in real-time, the inertial sensors errors, thus improving location estimation.

Collecting data for indoor mapping of the university of Münster via a location based game

Dissertation submitted in partial fulfillment of the requirements for the Degree of Master of Science in Geospatial Technologies.

Localization in underground tunnels

Positioning technologies are becoming ubiquitous and are being used more and more frequently for supporting a large variety of applica- tions. For outdoor applications, global navigation satellite systems (GNSSs), such as the global positioning system (GPS), are the most common and popular choice because of their wide coverage. GPS is also augmented with network-based systems that exploit existing wireless and mobile networks for providing positioning functions where GPS is not available or to save energy in battery-powered devices. Indoors, GNSSs are not a viable solution, but many applications require very accurate, fast, and exible positioning, tracking, and navigation functions. These and other requirements have stim- ulated research activities, in both industry and academia, where a variety of fundamental principles, techniques, and sensors are being integrated to provide positioning functions to many applications. The large majority of positioning technologies is for indoor environments, and most of the existing commercial products have been developed for use in of ce buildings, airports, shopping malls, factory plants, and similar spaces. There are, however, other spaces where positioning, tracking, and navigation systems play a central role in safety and in rescue operations, as well as in supporting speci c activities or for scienti c research activities in other elds. Among those spaces are underground tunnels, mines, and even underwater wells and caves. This chapter describes the research efforts over the past few years that have been put into the development of positioning systems for underground tun- nels, with particular emphasis in the case of the Large Hadron Collider (LHC) at CERN (the European Organization for Nuclear Research), where localiza- tion aims at enabling more automatic and unmanned radiation surveys. Examples of positioning and localization systems that have been devel- oped in the past few years for underground facilities are presented in the fol- lowing section, together with a brief characterization of those spaces’ special conditions and the requirements of some of the most common applications. Section 5.2 provides a short overview of some of the most representative research efforts that are currently being carried out by many research teams around the world. In addition, some of the fundamental principles and tech- niques are identi ed, such as the use of leaky coaxial cables, as used at the LHC. In Section 5.3, we introduce the speci c environment of the LHC and de ne the positioning requirements for the envisaged application. This is followed by a detailed description of our approach and the results that have been achieved so far. Some last comments and remarks are presented in a nal section.

Monitoring energy consumption in android applications

Dissertação de Mestrado em Engenharia Informática

All over the place localization system

The MAP-i Doctoral Programme in Informatics, of the Universities of Minho, Aveiro and Porto

Diseño y fabricación de una antena con diversidad en polarización para redes WIFI a 2,4 GHz

Existeixen diferents tecnologies de transmissió sense fils, però la més coneguda és la tecnologia WIFI (Wireless Fidelity) que opera a la banda dels 2,4 GHz a Europa. Aquest tipus de xarxes opera en entorns indoor, on el canal està sotmès a una aleatorietat i complexitat elevades degut a la presència d’una gran quantitat d’elements que poden fer que la senyal rebuda presenti variacions importants en les seves característiques (nivell de senyal, polarització...). Aquest fet motiva la necessitat de desenvolupar i implantar sistemes de comunicacions amb solucions per poder minimitzar els efectes provocats per l’entorn a la senyal. Per poder pal·liar aquestes variacions, en aquest projecte s’ha dissenyat i fabricat una antena formada per dos dipols disposats un ortogonal a l’altre de manera que existeixi diversitat en polarització. La freqüència de treball de la antena és de 2,4 GHz. Rebuda una senyal de RF, el circuit de commutació permetrà seleccionar el dipol pel qual es rep la senyal de RF amb una major potència.

Realitat augmentada per Android a la Vall d'Incles

En aquest treball s'exposa un petit estudi de la tecnologia Android, també es fa un anàlisi de la realitat augmentada i del framework LookAR. Es comença amb una visió general del funcionament d'Android, es repassa el concepte de realitat augmentada i s'analitzen diferents eines de treball per RA. Es fa una descripció del funcionament de LookAR i s'analitzen les eines per a mapes GoogleMaps i OpenstreetMaps. Finalment es realitza una aplicació en Android amb quatres funcionalitats. Una funció de càmera de realitat augmentada amb el framework Lookar, una funció de GoogleMaps per mostrar la nostra ubicació en un mapa, una altre funció per mostrar la localització via GPS o WIFI i finalment una funció per mostrar una llista de diferents punts d'interès que s'utilitzaran per mostrar informació sobre el mapa i en la càmera de realitat augmentada.

Control de dispositivos con Android

Este proyecto de final de carrera de la titulación de Ingeniería en Informática de Gestión consiste en el diseño y desarrollo de un sistema de control de dispositivos conectados a Raspberry Pi y gestionados desde un dispositivo Android. Se podrán llevar a cabo diferentes acciones como encender, apagar, programar la calefacción y consultar la temperatura actual remotamente desde un dispostivo conectado a la red wifi doméstica o desde de cualquier red que esté conectada a internet.