1. Crossroads Copenhagen Project A Wireless 3D Positioning Wireless 3D Positioning Outdoor Positioning using GPS or GPS or Operator driven telephone networks. Operator driven telephone networks. Indoor Positioning based on Wireless Local Area Network using Geometrical modelling or Geometrical modelling or Classification. Classification. Positioning Architecture and Some Research Questions. John Aa. Sørensen, lektor John Aa. Sørensen, lektor Dept. of Innovation, ITU Dept. of Innovation, ITU

2. Crossroads Copenhagen Project A Systems for Outdoor Positioning I Systems for Outdoor Positioning I Outdoor Positioning based on Global Positioning System (GPS) Satellites or Global Positioning System (GPS) Satellites or Operator driven Mobile Phone Networks. Operator driven Mobile Phone Networks. Position estimation is based on triangulation. Position estimation is based on triangulation. The position is determined based on knowledge of The position is determined based on knowledge of distances to at least 3 known positions. distances to at least 3 known positions. The distances are estimated from time measurements. The distances are estimated from time measurements.

3. Crossroads Copenhagen Project A Systems for Outdoor Positioning II Systems for Outdoor Positioning II Outdoor positioning by Global Positioning System (GPS): Developed by US Department of Defense (DoD). Basic architecture was approved in 1973. First satellite was launched in 1978. System was declared operational in 1995. Cost of development is approx. $10 billion. Annual operation and maintenance approx. $ 400 mill. Ref. [1] Special Issue on: "GPS The Global Positioning System". Proceedings of the IEEE, January 1999. Proceedings of the IEEE, January 1999.

4. Crossroads Copenhagen Project A Systems for Outdoor Positioning III Systems for Outdoor Positioning III Outdoor positioning by Global Positioning System (GPS): Satellites move 4 km/sec. Their positions in space are estimated within a few meters, based on predictions made 24 hours earlier. 24 satellites in near circular orbits with radius 26.560 Km. Frequency bands L1: 1575.42 MHz, L2: 1227.6 MHz Precision is approx. 10 m RMS, cf. ref. [1] Ref. [1] Special Issue on: "GPS The Global Positioning System". Proceedings of the IEEE, January 1999. Proceedings of the IEEE, January 1999.

5. Crossroads Copenhagen Project A Systems for Outdoor Positioning IV Systems for Outdoor Positioning IV Using operator driven Mobile Phone Networks. GSM (Global System for Mobile Communication) system. Frequency bands at 900 MHz or 1800 MHz. Measure the time differences between base stations. Use that in the triangularization, knowing the positions of the base stations.

6. Crossroads Copenhagen Project A Systems for Indoor Positioning I Systems for Indoor Positioning I GPS is not sufficient for indoor positioning. The indoor environment of a building using WLAN: Multipath propagation of the electromagnetic waves. Multipath propagation of the electromagnetic waves. Using a Wireless Local Area Network (WLAN) there are two fundamentally different approaches, based on Geometrical Modelling, or on Geometrical Modelling, or on Classification. Classification. [2] Kaveh Pahlavan et al. "Indoor Geolocation Science and Technology". and Technology". IEEE Communications Magazine, Feb. 2002. IEEE Communications Magazine, Feb. 2002.

7. Crossroads Copenhagen Project A Systems for Indoor Positioning II Systems for Indoor Positioning II Classification based approaches using IEEE 802.11b WLAN. (11Mbit/sec). Carrier frequency in the ISM band at 2.4 GHz. Ekahau Positioning System www.ekahau.com ref. [3]. www.ekahau.com ROVER at CMU ref. [4]. RADAR at Microsoft ref. [5]. [3] URL: www.ekahau.com [4] Suman Banerjee et al. "Rover: Scalable Location-Avare Computing" IEEE Computer, Oct. 2002. IEEE Computer, Oct. 2002. [5] Paramvir Bahl et al. "RADAR: An RF-Based In-Building User Location and Tracking System". Proc. of IEEE INFOCOM, March 2000. Location and Tracking System". Proc. of IEEE INFOCOM, March 2000.

8. Crossroads Copenhagen Project A What is needed for an Indoor Positioning Infrastructure? Infrastructure? AP1AP 2 AP3 AP4 Access Points for WLAN, in fixed positions. Mobile unit Direct propagation paths and multipaths

9. Crossroads Copenhagen Project A Systems for Indoor Positioning III Systems for Indoor Positioning III Architecture of Indoor Positioning system based on classification. Use the small Ekahau installation at ITU as an example. Client-Server system with positioning engine at the server. 6 Access Points (5 AP at building level 3 and 1 at level 2) covering positioning within approx. 600 m^2 at level 3. Manually calibration procedure needed, because the system classification based. Initial estimation of precision: approx. 2 m.

10. Crossroads Copenhagen Project A ITU 3’th Floor Initial test of commercial system from Ekahau (Finland) from Ekahau (Finland) 5 Access points at 3’th floor 1 access point at 2’th floor

11. Crossroads Copenhagen Project A What initial Platfrom will be available for Projects and Experiments? Projects and Experiments? Place ITU Glentevej. PDA (iPAQ) with WLAN interface. PDA (iPAQ) with WLAN interface. Java (if possible also C++). Java (if possible also C++). Positioning client in Java, calibrated on a part of 3. Floor. Positioning client in Java, calibrated on a part of 3. Floor. Initial 3D datastructure for experiments. Initial 3D datastructure for experiments.

12. Crossroads Copenhagen Project A Research Objectives in Indoor Positioning I Establishing a WLAN based open infrastructure for research within enhanced positioning and tracking algorithms, targeted at applications with a tightly coupling of position and multimedia information. Keeping the system as open as possible, with respect to new and improved WLAN standards.

13. Crossroads Copenhagen Project A Research Objectives in Indoor Positioning II Improved positioning precision based on continuously calibration of known points, covering the Volume of Interest, at the building site. Platform independent positioning systems, where the primary parameters for positioning can be targeted for a mixture of geometrically based models and classification based models, denoted hybrid models.