Mobile Positioning and Tracking: From Conventional to Cooperative Techniques

Content: About the Authors xv List of Contributors xvii Preface xix Acknowledgements xxi List of Abbreviations xxiii Notations xxxi 1 Introduction 1Joao Figueiras, Francescantonio Della Rosa and Simone Frattasi 1.1 Application Areas of Positioning (Chapter 2) 5 1.2 Basics of Wireless Communications for Positioning (Chapter 3) 5 1.3 Fundamentals of Positioning (Chapter 4) 5 1.4 Data Fusion and Filtering Techniques (Chapter 5) 6 1.5 Fundamentals of Tracking (Chapter 6) 6 1.6 Error Mitigation Techniques (Chapter 7) 7 1.7 Positioning Systems and Technologies (Chapter 8) 7 1.8 Ultrawideband Positioning and Tracking (Chapter 9) 8 1.9 Indoor Positioning in WLAN (Chapter 10) 8 1.10 Cooperative Multi-tag Localization in RFID Systems (Chapter 11) 9 1.11 Cooperative Mobile Positioning (Chapter 12) 9 2 Application Areas of Positioning 11Simone Frattasi 2.1 Introduction 11 2.2 Localization Framework 11 2.3 Location-based Services 13 2.3.1 LBS Ecosystem 13 2.3.2 Taxonomies 15 2.3.3 Context Awareness 26 2.3.4 Privacy 29 2.4 Location-based Network Optimization 32 2.4.1 Radio Network Planning 32 2.4.2 Radio Resource Management 32 2.5 Patent Trends 35 2.6 Conclusions 39 3 Basics of Wireless Communications for Positioning 43Gilberto Berardinelli and Nicola Marchetti 3.1 Introduction 43 3.2 Radio Propagation 44 3.2.1 Path Loss 45 3.2.2 Shadowing 48 3.2.3 Small-scale Fading 49 3.2.4 Radio Propagation and Mobile Positioning 52 3.2.5 RSS-based Positioning 54 3.3 Multiple-antenna Techniques 55 3.3.1 Spatial Diversity 55 3.3.2 Spatial Multiplexing 56 3.3.3 Gains Obtained by Exploiting the Spatial Domain 57 3.3.4 MIMO and Mobile Positioning 59 3.4 Duplexing Methods 59 3.4.1 Simplex Systems 59 3.4.2 Half-duplex 59 3.4.3 Full Duplex 60 3.5 Modulation and Multiple-access Techniques 61 3.5.1 Modulation Techniques 61 3.5.2 Multiple-access Techniques 65 3.5.3 OFDMA and Mobile Positioning 67 3.6 Radio Resource Management and Mobile Positioning 67 3.6.1 Handoff, Channel Reuse and Interference Adaptation 67 3.6.2 Power Control 69 3.7 Synchronization 70 3.7.1 Centralized Synchronization 70 3.7.2 Distributed Synchronization 71 3.8 Cooperative Communications 72 3.8.1 Cooperative MIMO 73 3.8.2 Clustering 74 3.8.3 Cooperative Routing 75 3.8.4 RSS-based Cooperative Positioning 75 3.9 Cognitive Radio and Mobile Positioning 75 3.10 Conclusions 78 4 Fundamentals of Positioning 81Joao Figueiras 4.1 Introduction 81 4.2 Classification of Positioning Infrastructures 81 4.2.1 Positioning-system Topology 82 4.2.2 Physical Coverage Range 83 4.2.3 Integration of Positioning Solutions 84 4.3 Types of Measurements and Methods for their Estimation 85 4.3.1 Cell ID 85 4.3.2 Signal Strength 85 4.3.3 Time of Arrival 86 4.3.4 Time Difference of Arrival 87 4.3.5 Angle of Arrival 88 4.3.6 Personal-information Identification 89 4.4 Positioning Techniques 89 4.4.1 Proximity Sensing 89 4.4.2 Triangulation 91 4.4.3 Fingerprinting 95 4.4.4 Dead Reckoning 98 4.4.5 Hybrid Approaches 98 4.5 Error Sources in Positioning 100 4.5.1 Propagation 100 4.5.2 Geometry 104 4.5.3 Equipment and Technology 105 4.6 Metrics of Location Accuracy 106 4.6.1 Circular Error Probability 106 4.6.2 Dilution of Precision 106 4.6.3 Cramer   Rao Lower Bound 107 4.7 Conclusions 107 5 Data Fusion and Filtering Techniques 109Joao Figueiras 5.1 Introduction 109 5.2 Least-squares Methods 110 5.2.1 Linear Least Squares 111 5.2.2 Recursive Least Squares 112 5.2.3 Weighted Nonlinear Least Squares 113 5.2.4 The Absolute/Local-minimum Problem 117 5.3 Bayesian Filtering 117 5.3.1 The Kalman Filter 118 5.3.2 The Particle Filter 124 5.3.3 Grid-based Methods 126 5.4 Estimating Model Parameters and Biases in Observations 126 5.4.1 Precalibration 127 5.4.2 Joint Parameter and State Estimation 127 5.5 Alternative Approaches 128 5.5.1 Fingerprinting 128 5.5.2 Time Series Data 131 5.6 Conclusions 132 6 Fundamentals of Tracking 135Joao Figueiras 6.1 Introduction 135 6.2 Impact of User Mobility on Positioning 136 6.2.1 Localizing Static Devices 136 6.2.2 Added Complexity in Tracking 136 6.2.3 Additional Knowledge in Cooperative Environments 136 6.3 Mobility Models 137 6.3.1 Conventional Models 137 6.3.2 Models Based on Stochastic Processes 137 6.3.3 Geographical-restriction Models 144 6.3.4 Group Mobility Models 146 6.3.5 Social-based Models 147 6.4 Tracking Moving Devices 150 6.4.1 Mitigating Obstructions in the Propagation Conditions 150 6.4.2 Tracking Nonmaneuvering Targets 151 6.4.3 Tracking Maneuvering Targets 152 6.4.4 Learning Position and Trajectory Patterns 155 6.5 Conclusions 160 7 Error Mitigation Techniques 163Ismail Guvenc 7.1 Introduction 163 7.2 System Model 165 7.2.1 Maximum-likelihood Algorithm for LOS Scenarios 166 7.2.2 Cramer   Rao Lower Bounds for LOS Scenarios 167 7.3 NLOS Scenarios: Fundamental Limits and Maximum-likelihood Solutions 170 7.3.1 ML-based Algorithms 170 7.3.2 Cramer   Rao Lower Bound 173 7.4 Least-squares Techniques for NLOS Localization 175 7.4.1 Weighted Least Squares 175 7.4.2 Residual-weighting Algorithm 176 7.5 Constraint-based Techniques for NLOS Localization 178 7.5.1 Constrained LS Algorithm and Quadratic Programming 178 7.5.2 Linear Programming 178 7.5.3 Geometry-constrained Location Estimation 180 7.5.4 Interior-point Optimization 181 7.6 Robust Estimators for NLOS Localization 182 7.6.1 Huber M-estimator 182 7.6.2 Least Median Squares 183 7.6.3 Other Robust Estimation Options 184 7.7 Identify and Discard Techniques for NLOS Localization 184 7.7.1 Residual Test Algorithm 184 7.8 Conclusions 188 8 Positioning Systems and Technologies 189Andreas Waadt, Guido Bruck and Peter Jung 8.1 Introduction 189 8.2 Satellite Positioning 190 8.2.1 Overview 190 8.2.2 Basic Principles 191 8.2.3 Satellite Positioning Systems 194 8.2.4 Accuracy and Reliability 195 8.2.5 Drawbacks When Applied to Mobile Positioning 195 8.3 Cellular Positioning 196 8.3.1 Overview 196 8.3.2 GSM 197 8.3.3 UMTS 206 8.3.4 LTE 208 8.3.5 Emergency Applications in Cellular Networks 211 8.3.6 Drawbacks When Applied to Mobile Positioning 213 8.4 Wireless Local/Personal Area Network Positioning 213 8.4.1 Solutions on Top of Wireless Local Networks 213 8.4.2 Dedicated Solutions 217 8.5 Ad hoc Positioning 220 8.6 Hybrid Positioning 220 8.6.1 Heterogeneous Positioning 220 8.6.2 Cellular and WLAN 221 8.6.3 Assisted GPS 221 8.7 Conclusions 223 Acknowledgements 223 9 Ultra-wideband Positioning and Tracking 225Davide Dardari 9.1 Introduction 225 9.2 UWB Technology 226 9.2.1 History and Definitions 226 9.2.2 Theory 226 9.2.3 Regulations 228 9.3 The UWB Radio Channel 230 9.3.1 Path Loss 231 9.3.2 Multipath 231 9.3.3 UWB Channel Models for Positioning 232 9.4 UWB Standards 233 9.4.1 IEEE 802.15.4a Standard 233 9.4.2 IEEE 802.15.4f Standard 235 9.4.3 Other Standards 237 9.5 Time-of-arrival Measurements 237 9.5.1 Two-way Ranging 237 9.5.2 Time Difference of Arrival 238 9.5.3 Fundamental Limits in TOA Estimation 238 9.5.4 Main Issues in TOA Estimation 240 9.5.5 Clock Drift 242 9.6 Ranging Algoritms in Real Conditions 243 9.6.1 ML TOA Estimation in the Presence of a Multipath 243 9.6.2 Clock Drift Mitigation 248 9.6.3 Localization and Tracking with UWB 250 9.7 Passive UWB Localization 253 9.7.1 UWB-RFID 253 9.8 Conclusions and Perspectives 258 Acknowledgments 260 10 Indoor Positioning in WLAN 261Francescantonio Della Rosa, Mauro Pelosi and Jari Nurmi 10.1 Introduction 261 10.2 Potential and Limitations of WLAN 262 10.3 Empirical Approaches 263 10.3.1 Probe Requests and Beacon Frames 264 10.3.2 Positioning Methods 265 10.3.3 Evaluation Criteria for Indoor Positioning Systems Based on WLANs 272 10.4 Error Sources in RSS Measurements 274 10.4.1 Heterogeneous WiFi Cards 275 10.4.2 Device Orientation 277 10.4.3 Channel in the Presence of the User and Body Loss 278 10.4.4 The Hand Grip 278 10.5 Experimental Activities 279 10.6 Conclusions 281 11 Cooperative Multi-tag Localization in RFID Systems: Exploiting Multiplicity, Diversity and Polarization of Tags 283Tanveer Bhuiyan and Simone Frattasi 11.1 Introduction 283 11.2 RFID Positioning Systems 285 11.2.1 Single-tag Localization 285 11.3 Cooperative Multi-tag Localization 286 11.3.1 Multi-tagged Objects and Persons 286 11.3.2 Localization of Mobile RFID Readers: CoopAOA 290 11.3.3 Performance Evaluation 297 11.3.4 Experimental Activity for Tag Localization 309 11.4 Conclusions 314 12 Cooperative Mobile Positioning 315Simone Frattasi, Joao Figueiras and Francescantonio Della Rosa 12.1 Introduction 315 12.2 Cooperative Localization 316 12.2.1 Robot Networks 316 12.2.2 Wireless Sensor Networks 317 12.2.3 Wireless Mobile Networks 321 12.3 Cooperative Data Fusion and Filtering Techniques 323 12.3.1 Coop-WNLLS: Cooperative Weighted Nonlinear Least Squares 323 12.3.2 Coop-EKF: Cooperative Extended Kalman Filter 326 12.4 COMET: A Cooperative Mobile Positioning System 328 12.4.1 System Architecture 328 12.4.2 Data Fusion Methods 330 12.4.3 Performance Evaluation 337 12.5 Experimental Activity in a Cooperative WLAN Scenario 349 12.5.1 Scenario 350 12.5.2 Results 350 12.6 Conclusions 352 References 353 Index 373