Stephan Linzner & Daniel Kersting Diploma Thesis Inaugural Lecture

Who we are

Stephan Linzner
 Student, fifth year

Daniel Kersting
 Student, fifth year

major in computer science at University Tübingen

major in computer science at University Tübingen

onlythoughtworks@googlemail.com http://twitter.com/onlythoughtwork

drewenut@googlemail.com http://twitter.com/drewenut

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS

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Lost Indoors

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS

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Lost Indoors…

Shopping center
 Product search  CBR (Consumer Based Routing)  IBR (Interest Based Routing)


  

Museums
 Family quiz, navitainment

Fairs
 i.e. CEBIT

Car park, airport, subway, concert hall, sewerages Emergency evacuation and guidance service
 Fire, earthquake, terror attacks

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS

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Motivation
Common outdoor navigation systems are freely available today.  GPS is based on satellite networks and can therefore only be used outdoors.  Today there is no ubiquitous localization and navigation system for confined spaces.  20 million sensor powered handsets sold in 2008.

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS 5

Key questions

What are use cases to be handled?
How to create a data model of confined spaces? Which (sensor) data is required? Where could that data come from?

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS

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Objectives of our work (1)
Evaluate methods and practices to realize a real-time sensor-driven indoor positioning system (SD-IPS) for mobile handsets.  Develop innovative approaches for mapping the most common characteristics of outdoor navigation systems to indoor application scenarios and expand them by dedicated confined spaces requirements.

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS 7

Objectives of our work (2)

Create an Android based application framework to easily build sensor-driven indoor positioning applications.
 Rely as much as possible on standard handset

hardware and not heavily depend on environment infrastructure.  Keep a lightweight design approach for concepts and the resulting framework.

Deliver augmented reality end user experience to make peoples indoor lifes easier.
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Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS

Framework objectives
Lightweight design  Portable (iPhone, Symbian OS, RIM)  Blackboxed  Focused on data providing

 Data representation  SD-IPS API

Not a GUI framework  No data visualization

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS

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Initial schedule

June 2009 – dig through sources
   

Android Kernel Drivers Libraries (Zxing)

July/August 2009 – try and research
 Test and evaluate the sensors  Localization by 2D codes  Explore possibilities (WLAN, Bluetooth…)

 Build the first prototypes

September/October 2009 – implement framework November 2009 – elaboration

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS

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What is Android?

Mobile operating system
 Linux kernel version 2.6.x  Middleware

 Application framework

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS

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Why Android?
Open  All applications are created equal  Breaking down application boundaries  Fast & easy application development

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS

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Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS

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Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS

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Rooted Android Developer Handset

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS

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Android Developer Handset Sensors

 


    

Accelerometer Gyroscope Compass (Magnetic Field) Camera (Imaging, scanning 2D-Barcodes) GPS Radio Network WLAN Bluetooth Audio (Microphone)

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS

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Inertial Navigation Set (IRBM S3)

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS

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6-axis electronic compass (G1)
Asahi Kasei Microsystems (AKM) AK8976A

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS

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Technologies vs. Techniques (1)

Ambient technologies
 WLAN ○ Trilateration ○ Time of arrival (ToA) ○ Received signal strength (RSSI)  Bluetooth ○ Received signal strength (RSSI)  Audio ○ Echo

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS

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Technologies vs. Techniques (2)

Optical technologies
 Camera ○ Visual detection ○ Augmented reality ○ 2D Barcodes
 Data Matrix  QR-Codes

Microelectromechanical technologies
 Sensors ○ Accelerometer ○ Gyroscope ○ Magnetic Field

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS

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Localization/Positioning Techniques

 

No infrastructure
 No additional hardware needed

Infrastructure Based
 Environmental hardware needed

Marker based localization
 Fixed synchronization points  Inertial navigation  Dead reckoning

Continuous localization
 Real-time position tracking

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS

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Localization/Positioning Techniques (2)
Infrastructure Marker based • Wlan • Bluetooth • Audio No Infrastructure • Camera

Continuous

• Wlan • Bluetooth • Audio

• Bluetooth

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS

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Navigation Techniques

Inertial Navigation
 Accelerometer  Gyroscope

 Compass (Magnetic field)

Dead reckoning (DR)
 Process of estimating one's current position

based upon a previously determined position  Estimate position by speeds over elapsed time

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS

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Accelerometer
/* * * * * * * * * * * * * * * * * * */ x<0 x>0 ^ | +-----------+--> y>0 | | | | | | | | / z<0 | | / | | / O-----------+/ |[] [ ] []/ +----------/+ y<0 / / |/ z>0 (toward the sky) O: Origin (x=0,y=0,z=0)

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS

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Gyroscope Z-Rotation

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS

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Gyroscope X-Rotation

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS

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Gyroscope Y-Rotation

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS

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Responsibilities

Localization Framework design
 Domain modeling


Navigation Framework design
 Platform independency

 Reusability

 Portability

Stephan Linzner

Daniel Kersting

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS

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Summary

Comprehensive exploration of the Android operating system and the SDK.
 Requires solid Java and C knowledge

Identify indoor localization and navigation key concepts.  Implement the most promising solution, which delivers the best trade of between accuracy, efficiency and usability, for the desired scenarios in a conceptual framework.

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS 29

Future Prospects (1)
Visualization framework  Augmented reality framework

 Wikitude:

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS

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Future Prospects (2)

Routing algorithms
 Consumer based routing (CBR)  Interest based routing (IBR)

Proximity based applications

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS

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Follow our diploma thesis
http://twitter.com/androidthesis  http://friendfeed.com/androidthesis  http://www.youtube.com/user/androidthesis  http://www.scribd.com/androidthesis  androidthesis@googlemail.com

Diploma thesis: Sensor-driven indoor-localisation/-navigation with Android OS

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