REAL TIME LOCATION SYSTEMS
The need to locate people and objects as soon as possible has always been an important part of any organization or industry, especially in manufacturing, health- care and logistics.
Today, there is a vast array of location technologies that are involved in the calculation of a user’s or object’s position in a space or grid, based on some mathematical model.
The technology required for automated location information provisioning has been in continual development for several decades; while the majority has its roots in the military, modern consumer technology is also rising to meet the challenges, specifically in metropolitan areas.
A wide range of problems can be solved with RTLS, therefore a multitude of applications and services can benefit from positioning such as logistics, routing, sales, asset tracking, personal safety and emergency response.
Fortunately, over the past decade, advances in location positioning technology have made it possible to locate users and objects using radio waves, ultrasounds, infrareds or laser.
Real time location systems present opportunities for a rich set of applications such as
navigation tools for humans and robots, interactive virtual games, resource discovery,
asset tracking, location-aware sensor networking and other industrial, commercial,
office, security and military applications.
3.1 Ranging methods
Several methods for performing ranging calculations are possible:
• AOA – angle of arrival
• TOA – time of arrival
• TDOA – time difference of arrival
• RSSI – received signal strength indication
• TOF – time of flight
• TWR – two way ranging
• SDS-TWR – symmetrical double sided two way ranging
• NFER – near field electromagnetic ranging
These methods employ radio waves, ultrasounds, infrareds or laser; as for radio waves they are or can be used, in combination or individually, in GPS technology, RFID systems, cellular networks and wireless technologies as WLAN, Bluetooth, UWB, ZigBee and WiMax.
Ultrasound systems can be accurate to around 1 cm in 3D but they are affected by loud noises and they require a very dense network of receivers; this makes them expensive and difficult to install in rooms with high ceilings or outside.
Optical systems can be very accurate, to around 1mm in 3D, but are affected by smoke, can interfere with vision enhancement systems in night exercises and depend on line of sight, so require a dense network of scanners to avoid occlusions.
GPS uses satellite signals and so requires no special infrastructure, but it will not work reliably indoors or in “urban canyon” situations due to signal attenuation.
Cellular networks generally fail to provide a satisfactory degree of accuracy.
With regard to radio waves, the higher is the frequency, the lower is receivers’
density, but the more ranging is prone to multipath interference.
Multipath cancellation occurs when a strong reflected wave off walls or other objects
arrives partially or totally out of phase with the direct path signal, causing a reduced
amplitude response at the receiver; this lead to positioning errors, so location is
provided with less accuracy.
For example, conventional spread spectrum signals like Wi-Fi experience significant waveform distortion and loss of signal strength providing an accuracy of up to 20 m indoor and up to 40 m outdoor.
If a time-based ranging method is used, the precise moment of signal reception is estimated detecting the leading edge of the cross-correlation function.
It is known that the wider is the signal bandwidth, the narrower are the correlation peaks and the higher is the immunity to multipath effects: the direct path has essentially come and gone before the reflected path arrives and no cancellation occurs.
Hence making the correlation peaks as narrow as possible increases the time resolution of the method and therefore the precision of location.
Ultra-Wideband emerging technology employs a chirped signal or an impulse with an extremely short duration, typically ranging from a few hundred picoseconds to a few nanoseconds, thus resulting in a directly modulated waveform (it does not using a carrier to move signals from baseband to passband).
As a consequence of these extremely short time durations, the average transmit power is extremely small, resulting in huge savings in battery consumption.
Moreover, since the speed of light is approximately 0.3 meters per nanosecond, UWB pulses have spatial extents measured in centimeters, enabling extremely fine range resolution in RTLS.
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IGURE3.1 – An UWB pulse
UWB’s short time bursts correspond to a bandwidth of several GHz, thus the energy
is spread over a broad range of frequencies resulting in a very low energy density that
translates into a low probability of interference to proximity systems and minimal RF health hazards.
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IGURE3.2 – UWB spectrum
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IGURE3.3 – Multipath cancellation effects on Wi-Fi and UWB signals
Another important feature of UWB is its circuit simplicity and size, as can be seen in the following figure:
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IGURE3.4 – A comparison of Wi-Fi and UWB integrated circuits’ size
On the basis of such considerations Ultra-Wideband is commonly believed to be the technology of choice for ranging systems: it offers a good compromise between high accuracy (about 15 cm) inside buildings, reasonably low levels of infrastructure (receiver density is a bit higher than in conventional RF systems), outdoor performances, small tag size and fairly low power consumption.
A real time location system consist of only two key parts: a set of transmitters and receivers nodes, used to compute the range between various nodes in the system and a location engine, that is used to determine the position of one of the nodes; the location engine collects the estimated distance measurements from the network of transmitters and receivers and then provides these measurements as input data to an algorithm that determines the position of the target node or set of nodes.
The above mentioned ranging methods will be described in the following paragraphs.
3.1.1 Angle of arrival
AOA is a method for determining the direction of propagation of a received signal:
using direction sensitive antennas on a receiver, the direction to the transmitter can be obtained.
The angle of arrival is determined by measuring the angle between a line that runs from the receiver to the transmitter and a line from the receiver with a predefined direction, for instance the north.
This method can be illustrated as follows, where R
1is the receiver and T denotes the transmitter.
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IGURE3.5 – Angle of arrival method
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IGURE3.6 – Determining position with angle of arrival
Using the positions of two receivers at known locations, the position of a transmitter
can be determined using simple triangulation: for each receiver, the angle of arrival of
the signal received from the same transmitter is calculated and then an algorithm is
used by the location engine to determine the position of the transmitter.
In figure 3.6 is illustrated the way in which position is determined with AOA; the transmitter is denoted as T and the receivers as R
1, R
2and R
3, respectively.
Taking measurements using this method often requires a complex set of between 4 and 12 antenna arrays situated in a horizontal line at several cell site locations: the accuracy increases with the number of antenna arrays used.
In addition to the cost, the resulting angle measurements are rather sensitive against multipath propagation common in building environments: this method is best suited for direct line of sight measurements between transmitters and receivers.
Furthermore, the angle of arrival method is also susceptible to security threats as attackers can easily reflect or retransmit from a different location.
3.1.2 Time of arrival
TOA is a method based on the measurement of the propagation delay of the radio signal (as opposed to a data packet) between a transmitter and one or more receivers.
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IGURE3.7 – Time of arrival method
Propagation delay, which can be calculated as t
1– t
0, is the time lag of the signal departure from a source station T to a destination station R; in other words, it is the amount of time required for a signal to travel from the transmitter to the receiver, as shown in the above figure.
The distance between the transmitter and the receiver is obtained multiplying the propagation delay by the propagation speed of the signal.
In a 2D plane the location of a transmitter can be seen as an intersection of circles and in 3D space it can be seen as an intersection of spheres.
To determine the transmitter position, in a 2D plane at least three receivers and three
circles are required, while in 3D space at least four receivers and four spheres are
required to take TOA measurements.
The time of arrival method for 2D range calculations can be illustrated as follows, where the transmitter is denoted as T and the receivers are R
1, R
2and R
3; the signal is transmitted at t
0and received by receivers at t
1, t
2and t
3respectively.
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IGURE3.8 – Determining position in a 2D plane with time of arrival
To have any reasonable confidence in the measurement of the propagation delay, the clocks of the transmitter and the receiver must be synchronized.
A distance can be determined by this method only with a considerable cost: to achieve precision up to the nanosecond scale, which results in a more precise distance measurement, an elaborate clock synchronization system must be developed which has high costs in terms of development time and effort.
Furthermore, at least three/four receivers are required, which also adds to the cost
and complexity of the system.
3.1.3 Time difference of arrival
TDOA method is similar to TOA: while the time of arrival method can be seen as an intersection of circles or spheres with center points of known locations, this method can be seen as an intersection of hyperbolas or hyperboloids.
Time difference of arrival measures the difference in the time the signal arrived at different receivers: while TOA uses the time that a transmitter sends a signal to the receivers, TDOA requires that the receivers record when the signals were received.
In a 2D plane the location of a transmitter can be seen as an intersection of hyperbolas and in 3D space it can be seen as an intersection of hyperboloids: that is why this method is also known as three dimensional hyperbolic positioning.
To determine the transmitter position, in a 2D plane at least three receivers and any two of the three hyperbolas are required, while in 3D space at least four receivers and any three of the four hyperboloids are required to take TDOA measurements.
With TDOA each of the receivers receive the signal from the transmitter and record when it was received; this information is forwarded to a location engine which calculates the difference in time of arrival between pairs of receivers and provides an estimated position of the transmitter through an algorithm.
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IGURE3.9 – Determining position in a 2D plane with time difference of arrival
Like TOA, TDOA requires the clocks of each of the receivers to be synchronized;
the precision of the location engine is correlated to the accuracy of the clocks, with
more accurate clocks providing more accuracy, but also a higher cost: in most cases, therefore, the clocks run asynchronously with its related affect on precision.
Furthermore, TDOA is also affected by multipath propagation, noise and interferences, thus direct line of site is preferable.
3.1.4 Received signal strength indication
RSSI is based on the strength of the signals sent by at least three reference nodes and received by the node to be tracked; to increase accuracy, more sophisticated RSSI methods use a map, called RF fingerprint, which uses calibrations of the strength of signals at various points in a predefined area.
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IGURE3.10 – Determining position with receiver signal strength indication
The RSSI method is illustrated in the figure above, where reference nodes are denoted as R
1, R
2and R
3and signal strengths as S
1, S
2and S
3respectively.
The distance between a reference node R and the node T to be tracked, is
determined by converting the value of the signal strength at R (before attenuation
due to the medium) into a distance measurement based on the known signal strength
at T and on a particular path-loss model.
The location engine algorithm estimates T position using the computed distances between T and several receivers.
Although the determination of the distance differs substantially from the TOA method, the location calculation relies on similar algorithms.
To be effective, this method requires a dense deployment of reference nodes, which adds considerably to the cost of the system; however, the key problem related to RSSI is that an adequate underlying path-loss model must be found for both non- line-of-sight and non-stationary environments; consequently, in practice, estimated distances are somewhat unreliable.
Furthermore, systems using RSSI can be disqualified from security applications as attackers can easily alter the strength of received signals by either amplifying or attenuating a signal or by other methods.
Finally, the issue of using a network in mission critical purposes, while RTLS burdens it with additional tasks, is yet to be resolved.
3.1.5 Time of flight
TOF method uses measured elapsed time for a transmission between a transmitter and a receiver based on the estimated propagation speed of a typical signal through a medium.
Since a time value is used, clock accuracy becomes significantly more important than in previous methods.
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IGURE3.11 – Determining position with time of flight
A signal with known departure time is sent from a transmitter with a known location, to the receiver, the departure time is compared with the arrival time and the distance is determined, with an accuracy of about 2 meters, using an estimate of the signal’s propagation speed.
Using three transmitters, each one associated with a coordinate, an algorithm can determine the location of the receiver in 3D space.
The TOF method is illustrated in figure 3.11, where the receiving node to be tracked is denoted as T, the transmitting reference nodes as R
1, R
2and R
3, the departure times as t
d1, t
d2and t
d3, the arrival times as t
a1, t
a2and t
a3and the distances as D
1, D
2and D
3, respectively.
This method does not add additional hardware overhead to the system as it can use the same hardware that would be used for data communication and signal processing.
An ideal TOF system requires costly accurate clocks: clocks’ offset and drift corrupt ranging accuracy; moreover the signal can be affected by interference from other signals, noise and multipath propagation.
Time of flight is reasonably successful in indoor environments, such as with concrete walls and floors, has a relatively high accuracy and is considered to be a secure method for RTLS.
3.1.6 Two way ranging
TWR method overcomes the inherent difficulties of the TOF method making the clock synchronization requirement irrelevant to the measurement.
Two way ranging method (also called round trip time) do this by sending a ranging signal and waiting for an acknowledgement, a process known as “round tripping”:
• node 1 sends a data signal to node 2 at t
1• node 2 starts time measurements at t
2when it receives the signal from node 1
• node 2 stops time measurements at t
3when it sends the acknowledgement signal to node 1
• node 1 receives the acknowledgement signal at t
4• the difference between the time measured by node 1, t
4– t
1and the time
measured by node 2, t
3– t
2, is twice the time of signal propagation through
the medium
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IGURE3.12 – Round trip time method
In RTT method timestamps on the physical layer and not on application layer are used and the processing time (t
3– t
2measured by node 2) is assumed to be equal on both nodes.
The round trip time is a rather long interval compared with the time required for a signal to propagate through the air: the time a transceiver uses to transmit and receive packets requires hundreds of microseconds rather than the tens of nanoseconds which are required to propagate a signal through air.
Therefore, although the internodal synchronization is no longer required, the problem of the clock generating oscillator’s quality appears in the TWR scheme.
An acceptable error of the round trip measurement due to oscillator drift should not exceed one nanosecond, but this would require a crystal with a tolerance far beyond that of the crystals typically deployed in RTLS (10 parts-per-million or better).
3.1.7 Symmetrical double sided two way ranging
SDS-TWR is a TOF based method that uses TWR to avoid clock synchronization and double-sided ranging to zero the errors of the first order due to the clock drift.
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IGURE3.13 – Symmetrical double sided two way ranging method
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IGURE3.14 – Determining position with symmetrical double sided two way ranging
3.1.8 Near field electromagnetic ranging
Technologies based on radio waves, which travel 0.3 meters every nanosecond, have to deal with near nanosecond synchronization that is both expensive and difficult.
NFER technology avoids these problems by exploiting near-field differences
between electric and magnetic waves, providing a low-cost, long-range, high-accuracy
(about 30 centimeters) solution to the problem of tracking people and assets.
A near field electromagnetic ranging system compares the phase between the electric component and the magnetic component of a radio signal to yield a precise measurement of range.
Unlike far field systems that only capture two signal properties like amplitude and phase (or equivalently time of arrival), a NFER system captures phase and amplitude data from both the electric and magnetic components of the signal: this additional information allows an individual receiver to track not only range but also angle of arrival.
In many cases a single receiver can provide accurate tracking information, although multiple receivers improve accuracy and reduce error.
The low frequencies of a NFER system are relatively immune from multipath, yielding precise tracking at distances much further than comparable high frequency systems.
Low frequencies have better propagation characteristics (fewer receivers cover a large area), enable simpler, more economical hardware and are more penetrating, propagating through or diffracting around obstructions that would block comparable high frequency signals.
Furthermore, propagation measurements indicate that NFER systems work well underground or in metal rich environments: thus, a near field electromagnetic range system is ideal for tracking in complicated environments.
Finally, the near-field nature of NFER systems gives ultra-low effective isotropic radiated power and thus a low-probability-of-intercept signal.
3.2 GPS
NAVigation Satellite Timing And Ranging Global Positioning System, or NAVSTAR GPS, is a network of satellites, realized by United States Department of Defense, that continuously transmit coded information, which allows to precisely identifying locations on earth with planimetric and altimetric coordinates by measuring distance from satellites.
The system was born from a U.S. DoD top-secret project during the last years of the
cold war originally intended for military applications; the main target was to support
artillery fires (ballistic and intercontinental missiles launch) and to coordinate the
troop deployment.
In the 1980s the government made the system available for civilian use: satellites yet owned a dedicated civilian channel, L1, planned by military hierarchies for this scope.
GPS can be used everywhere except where it is impossible to receive the signal, for example underwater, inside buildings and in caves, parking garages and subterranean locations.
Basically it allows recording or creating locations from places on the earth and helping to navigate to and from those spots.
The most common airborne applications include navigation by general aviation and commercial aircraft, while at sea, GPS is typically used for navigation by recreational boaters and fishing enthusiasts; land-based applications are more diverse:
• the scientific community uses GPS for its precision timing capability and survey accuracy
• recreational uses are almost as varied as the number of recreational sports available
• GPS is rapidly becoming commonplace in the automotive segment as well:
some basic systems provide emergency roadside assistance at the push of a button (by transmitting the position to a dispatch center), while more sophisticated systems show vehicle’s position on a street map and suggest the best route to follow to reach a designated location
3.2.1 The three segments of GPS
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IGURE3.15 – The three segments of GPS
The space segment consists of 30 satellites (21 active and the other operating spares) orbiting at an altitude of approximately 20’200 kilometers.
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IGURE3.16 – GPS satellite constellation
These Space Vehicles are constantly moving at speeds of roughly 11’265 kilometers per hour, making two complete orbits in less than 24 hours.
The satellite orbits repeat almost the same ground track once a day, as the earth turns beneath them.
There are six orbital planes (with nominally five SVs in each), equally spaced (60 degrees apart) and inclined at about fifty-five degrees with respect to the equatorial plane; this constellation provides the user with between five and eight SVs visible from any point on the earth.
GPS satellites are powered by solar energy and have backup batteries onboard to keep them running in the event of a solar eclipse; small rocket boosters on each satellite keep it flying in the correct path.
The first GPS satellite was launched in 1978 and a full constellation of 24 satellites
was achieved in 1994, completing the system.
Each SV weighs approximately 900 kilograms, is about 5 meters across with the solar panels extended, has a transmitter power of 20 – 50 watts and is built to last about 10 years.
GPS provides two levels of service:
• SPS – Standard Positioning Service, a positioning and timing service available to all GPS users
• PPS – Precise Positioning Service, a highly accurate military positioning, velocity and timing service available only to users authorized by the U.S.
SVs transmit two microwave carriers: the L1 signal (1575.42 MHz) carries the navigation message and the SPS code signals, while the L2 signal (1227.60 MHz) is used to measure the ionospheric delay by PPS equipped receivers.
The signals travel by line of sight, meaning they will pass through clouds, glass and plastic but will not go through most solid objects such as buildings and mountains.
Three binary codes are used to phase modulate the carriers as described below.
• The Coarse Acquisition Code modulates the L1 carrier phase; the C/A code is a 1’023 bits long pseudo-random noise (PRN) code transmitted at 1.023 Mbps so it repeats every millisecond.
Since there is a different C/A code for each SV, GPS satellites are often identified by their PRN number.
• The Precise Code modulates both the L1 and L2 carrier phases; the P-code is a 6’187’100’000’000 bits long PRN code transmitted at 10.23 Mbps so it only repeats once a week since it is.
To prevent unauthorized users from using or potentially interfering with the military signal through a process called spoofing, it was decided to encrypt the P-code modulating it with the W-code, a special encryption sequence, to generate the Y-code, which is what the satellites have been transmitting since the anti-spoofing module was set to the on state.
The encrypted signal is referred to as the P(Y)-code, is the basis for the PPS, requires a classified AS module for each receiver channel and is for use only by authorized users with cryptographic keys.
• The Navigation Message modulates both the C/A and P(Y) ranging codes at
50 bps and contains the satellite orbital and clock information, general system
status messages and an ionospheric delay model.
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IGURE3.17 – GPS signals
The satellite signals are timed using highly accurate atomic clocks; their main purpose is to allow the calculation of the travel time (TOA) from the satellite to the GPS receiver on the earth.
The control segment consists of ground stations (five of them, located in Hawaii, Ascension Island, Diego Garcia, Kwajalein and Colorado Springs) that make sure the satellites are working properly; the Master Control facility is located at Schriever Air Force Base (formerly Falcon AFB) in Colorado.
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IGURE3.18 – GPS Mater Control and Monitor Station Network
These control stations compute precise orbital data (ephemeris) and SV clock corrections for each satellite with the signals from the satellites which are incorporated into orbital models: the Master Control station uploads ephemeris and clock data to the satellites; the satellites then send subsets of the orbital ephemeris data to GPS receivers over radio signals.
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IGURE3.19 – GPS control monitor
The user segment consists of the GPS receivers and the user community.
GPS receivers convert satellites signals into position, velocity and time estimates;
four satellites are required to compute the four dimensions relative to position (latitude, longitude
1and altitude) and time.
Navigation in three dimensions is the primary function of GPS; navigation receivers are made for aircraft, ships and ground vehicles and for hand carrying by individuals.
Precise positioning is possible using GPS receivers at reference locations providing corrections and relative positioning data for remote receivers; surveying, geodetic control and plate tectonic studies are examples.
Research projects have used GPS signals to measure atmospheric parameters, while astronomical observatories, telecommunications facilities and laboratory standards can be set to precise time signals or controlled to accurate frequencies by special purpose GPS receivers; this is accomplished with time and frequency dissemination based on the satellites’ precise clocks that are controlled by the monitor stations.
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