Localization And Positioning via Wi-Fi Signals.

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LOCALIZATION AND POSITIONING via Wi-Fi SIGNALS

MOHD IDZWAN BIN OTHMAN

This Report Is Submitted In Partial Fulfillment Of Requirements

For The Bachelor Degree of Electronic Engineering

(Telecommunication Electronics) with Honours

Faculty of Electronic and Computer Engineering

Universiti Teknikal Malaysia Melaka

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UNIVERSTI TEKNIKAL MALAYSIA MELAKA

FAKULTI KEJURUTERAAN ELEKTRONIK DAN KEJURUTERAAN KOMPUTER

BORANG PENGESAHAN STATUS LAPORAN

PROJEK SARJANA MUDA II

Tajuk Projek : LOCALIZATION AND POSITIONING via Wi-Fi SIGNALS

Sesi Pengajian : 2 / 2012/2013 Saya MOHD IDZWAN BIN OTHMAN

mengaku membenarkan Laporan Projek Sarjana Muda ini disimpan di Perpustakaan dengan syarat-syarat kegunaan seperti berikut:

1. Laporan adalah hakmilik Universiti Teknikal Malaysia Melaka.

2. Perpustakaan dibenarkan membuat salinan untuk tujuan pengajian sahaja.

3. Perpustakaan dibenarkan membuat salinan laporan ini sebagai bahan pertukaran antara institusi pengajian tinggi.

4. Sila tandakan ( √ ) :

SULIT*

(Mengandungi maklumat yang berdarjah keselamatan atau kepentingan Malaysia seperti yang termaktub di dalam AKTA RAHSIA RASMI 1972)

TERHAD* (Mengandungi maklumat terhad yang telah ditentukan oleh organisasi/badan di mana penyelidikan dijalankan)

TIDAK TERHAD

Disahkan oleh:

__________________________ ___________________________________ (TANDATANGAN PENULIS) (COP DAN TANDATANGAN PENYELIA)

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DECLARATIONS

“I hereby declare that this report is the result of my own work except for quotes as cited in the references.”

Signature : ... Author : MOHD IDZWAN BIN OTHMAN Date : 10th

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“I hereby declare that I have read this report and in my opinion this report is sufficient in terms of the scope and quality for the award of Bachelor of Electronic

Engineering (Telecommunication Engineering) With Honours”.

Signature : ………

Supervisor’s Name : ABD. SHUKUR BIN JA’AFAR Date : 10th June 2013

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Special thanks to my parents and family, my colleagues and friends, and project supervisor who have been supporting me all the time.

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ACKNOWLEDGMENT

First and foremost, praise to Allah the Almighty because without His grace I will not be able to complete this Projek Sarjana Muda and report as well as possible. Here, I wish to express my sincere gratitude to my supervisor, Mr. Abd. Shukur bin Ja’afar for his germinal ideas, invaluable guidance, continuous encouragement and constant support. I also sincerely thanks for the time spent proofreading and correcting my mistakes.

I acknowledge my sincere indebtedness and gratitude to my parents for their love, dream and sacrifice throughout my life. I cannot find the appropriate words that could properly describe my appreciation for their devotion, support and faith in my ability to attain my goals.

Finally, I also would like to thanks for those who are involved directly and indirectly through out completing the project and report successfully.

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ABSTRACT

Global Positioning System (GPS) is widely used as public location and positioning system in locating and localizing geo-location coordinates of user. However, this application signal is limited, not operational, not available and inefficient for indoor environment. Therefore, the purpose of this project is to develop localization and positioning system utilizing Wi-Fi signals. Wireless position estimation is based on distance measurement in determining the coordinates of user. Scene analysis which called fingerprinting technique is chosen in this project with measurement of received signal strength at specific locations. This fingerprint positioning algorithm has two phases to go through which is surveying phase and online phase. The unknown location of user will be located during online phase based on database comparison that has been collected on surveying phase. MATLAB Graphic User Interface was developing as user interface for simulation purpose. Several analysis has been done to determine the accuracy and effectiveness of the positioning error due to numbers of access point and environment traffic condition.

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ABSTRAK

Sistem Kedudukan Global (GPS) telah digunakan secara meluas sebagai penunjuk lokasi awam dan sistem kedudukan dalam mencari dan menentu koordinat lokasi geografi pengguna. Walaubagaimanapun, isyarat aplikasi penerima ini adalah terhad, tidak beroperasi, tidak berfungsi dan tidak cekap untuk persekitaran dalaman. Oleh itu, tujuan projek ini adalah untuk membangunkan menentu dan sistem mencari kedudukan menggunakan isyarat Wi-Fi. Anggaran kedudukan tanpa wayar berdasarkan ukuran jarak digunakan dalam menentukan koordinat pengguna. Analisis pemandangan iaitu algoritma fingerprint teknik telah dipilih dalam projek ini dengan pengukuran kekuatan isyarat yang diterima. Algoritma kedudukan fingerprint ini mempunyai dua fasa yang perlu dilalui iaitu fasa pengukuran dan fasa dalam talian. Lokasi yang tidak diketahui pengguna akan terletak semasa fasa dalam talian berdasarkan perbandingan pangkalan data yang telah dikumpul semasa fasa pengukuran. MATLAB Grafik Antara Muka Pengguna dibangunkan sebagai antara pengguna bagi tujuan simulasi. Beberapa analisis telah dilakukan untuk menentukan ketepatan dan keberkesanan kedudukan terhadap jumlah akses pusat dan keadaan lalu lintas persekitaran.

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TABLE OF CONTENTS

CHAPTER TITLE PAGE

PROJECT TITLE i

COMFIRMATION OF STATUS REPORT ii

DECLARATION iii

SUPERVISOR DECLARATION iv

DEDICATION v

ACKNOWLEDGEMENT vi

ABSTRACT vii

ABSTRAK viii

TABLE OF CONTENTS ix

LIST OF TABLES xii

LIST OF FIGURES xiii

LIST OF ABBREVIATIONS xv

LIST OF APPENDICES xvi

1 INTRODUCTION

1.1 Overview of Technologies 1 1.2 Project Background 5 1.3 Problem Statement 6

1.4 Objectives 6

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2 LITERATURE REVIEW

2.1 Triangulation 9 2.2 Trilateration 11 2.3 Scene Analysis 15 2.3.1 Ekahau Site Survey 20 2.3.2 VisiWave Site Survey 21 2.3.3 TamoGraph Site Survey 22 2.4 Comparison between Positioning Algoritm 23

3 METHODOLOGY

3.1 Project Methodology 24 3.1.1 Phase 1 - Planning 25 3.1.1.1 Data Collection 26 3.1.1.2 Hardware and software requirements 26 3.1.2 Phase 2 - Measurement 27 3.1.2.1 Scene Analysis Technique 28 3.1.3 Phase 3 - Development 35 3.1.3.1 Development of Distance Algorithm 35 3.1.3.2 Development of Graphical User Interface 37 3.1.4 Phase 4 - Testing 37

4 RESULT AND DISCUSSION

4.1 Distance Estimation Algorithm 38 4.1.1 Location Estimation Calculation 39 4.1.2 Analysis of Algorithm Effectiveness

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Access point Access point

3.1.3 4.1.2.2 Comparison between Numbers of

Access Point Access Point and Traffic Condition

5 CONCLUSION AND FUTURE WORKS

5.0 Conclusion 51

5.1 Future Works 52

REFERENCES 53

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LIST OF TABLES

NO TITLE PAGE

1.1 Indoor versus outdoor positioning 2 1.2 Indoor Positioning Technologies 3 2.1 Advantages and disadvantages of positioning algorithm 23 3.1 Received Signal Strength color level 30 3.2 Region color description 31 3.3 Received Signal Strength database in dBm 33 3.4 Received Signal in matrix form 34 4.1 Received Signal Strength database in dBm at each Reference Location 40 4.2 Received Signal Strength database Normalized at Access Point 1 41 4.3 Received Signal Strength database between User Normalized and

database values

4.4 Received Signal Strength at sample location 47 4.5 Location estimation in real time 47 4.6 Comparison between Numbers of Access Point 49 4.7 Comparison between Traffic Conditions 50

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LIST OF FIGURES

NO TITLE PAGE

1.1 Indoor technologies in dependence on accuracy and coverage 4 1.2 Indoor technologies dependence on accuracy and carrier wavelength 4 1.3 Positioning system block diagram 5 1.4 Flow chart scope of project 8 2.1 Triangulation algorithm in 2D 10 2.2 Graph of relative position error versus target angle 11 2.3 Trilateration positioning algorithms 12 2.4 2D target location by TOA measurement technique 13 2.5 Geometric relationship between target and two APs 14

2.6 Surveying phase 16

2.7 Online phase 16

2.8 Scene analysis system 17 2.9 Offline phase and online phase of scene analysis technique 17 2.10 Database comparison 18 2.11 Wi-Fi contour power (dBm) line coverage 19 2.12 Ekahau Site Survey icon 20 2.13 Ekahau Site Survey window 20 2.14 VisiWave Site Survey icon 21 2.15 VisiWave Site Survey window 21 2.16 TamoGraph Site Survey icon 22 2.17 Tamograph Site Survey window 22

3.1 Design phase 25

3.2 Steps of Methodology 25 3.3 Flow chart of surveying phase 27 3.4 Orientations during taking measurement 28

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3.5 Orientations affect on Received Signal Strength 28 3.6 Block B, ground Floor, FKEKK 29 3.7 Surveying phase on coverage area 29 3.8 Data extracted in WordPad 30

3.9 Coverage area 31

3.10 Coverage area plotting point in MATLAB 32 3.11 MATLAB Simulink icon 35 3.12 MATLAB Simulink window 35 3.13 Flow chart of distance algorithm 36 4.1 Theorem Pythagoras area 39 4.2 Coverage area plotting point in matrix 39 4.3 Location estimation area 45 4.4 Scale on the coverage area 46

4.5 Sample location 46

4.6 Location estimation of sample location taken 47

4.7 MATLAB GUI 48

4.8 MATLAB GUI output 48

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LIST OF ABBREVIATIONS

ABBREVIATION MEANING

GPS Global Positioning System RFID Radio Frequency IDentification

laser Light Amplification by Stimulated Emission of Radiation WLAN Wireless Local Area Network

RSS Received Signal Strength AP Access Point

FKEKK Fakulti Kejuruteraan Elektronik dan Kejuruteraan Komputer PSM Projek Sarjana Muda

UTeM Universiti Teknikal Malaysia Melak RSS Received Signal Strength

AoA Angle Of Arrival 2D Two Dimensions ToA Time Of Arrival

TDoA Time Difference Of Arrival TOF Time Of Flight

WLAN Wireless Local Area Network UWB Ultra-Wideband

Wi-Fi Wireless Fidelity

A-GPS Assisted Global Positioning System GNSS Global Navigation Satellite System RTLS Real-time Locating System

ANSI American National Standards Institute

ISO International Organization for Standardization SSID Service Set Identifier

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LIST OF APPENDICES

NO TITLE PAGE

A Euclidean distance program 55

B MATLAB GUI program 57

C Gantt Chart of project planning 63

D Poster 64

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CHAPTER 1

INTRODUCTION

1.0 Introduction

This chapter will discuss briefly the background of the project that has been chosen. It will also discuss the problem statement, main objective and the scope of the project.

1.1 Overview of Technologies

Positioning system is a technology that is used in locating and tracking user or property. Location, defined as coordinates or places either room, street, building and house. Position, is refer to the distance or location from some area. Positioning, usually refers to the process of finding the two-or-three-dimensional coordinates of a terminal but can mean determination of distance or range [1]. A beacon is a

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continuous or periodic transmission that facilitates timing synchronization or position measurements between terminals. Terminal refers to the either side of the communication link.

Positioning system technologies can be divided into two categories, outdoor and indoor positioning. Table 1.1 [6] shows different between indoor and outdoor positioning.

Table 1.1: Indoor versus outdoor positioning [6]

INDOOR OUTDOOR

WLAN

 Client-based system design  Client-assisted system design

GPS

 Requires minimal obstructions  Long acquisition times

(30s-15min)

 Has to be synchronous  High power consumption and

high unit cost A-GPS Sensor Network

 Localization with beacons  Localization with moving

beacons

 Beacon-free localization UWB

 A promising approach for indoor geolocation

 Can achieve very accurate short distance estimation

A-GPS

 Much more accurate: accuracy of 10-50m can be used even for indoor positioning

 Improves acquisition time (<10s)  Synchronous or asynchronous  More cost effective than GPS  Little/no hardware changes

required in base stations

The most popular outdoor positioning system is Global Positioning System (GPS). This system uses satellites to navigate the location of the target or user. The current indoor positioning systems technology is Wi-Fi, RFID (Radio Frequency IDentification), laser (Light Amplification by Stimulated Emission of Radiation), infrared, and ultrasound. Table 1.2 [14]shows the specification of indoor technologies for nowadays. Figure 1.1 and 1.2 [14] show dependency of accuracy to the coverage and carrier wavelength.

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Table 1.2: Indoor Positioning Technologies [14]

Technology Typical Accuracy Typical Coverage (m) Typical Measuring Principle Typical Application Cameras 0.1mm -

dm 1 – 10

Angle measurements from images Metrology, robot navigation Infrared Cm – m 1 - 5 Thermal imaging,

active beacons

People detection, tracking Tactile & Polar

Systems µ m – mm 3 – 2000

Mechanical, interferometry

Automotive, metrology Sound cm 2 – 10 Distances from time

of arrival

Hospitals, tracking WLAN/Wi-Fi m 20 – 50 Fingerprinting

Pedestrian navigation, LBS RFID dm - m 1 – 50 Proximity detection,

fingerprinting

Pedestrian navigation

Ultra-Wideband cm - m 1 – 50

Body reflection, time of arrival

Robotics, automation High Sensitive

GNSS 10 m „global‟

Parallel correlation, assistant GPS

Location based services

Pseudolites cm - dm 10 – 1000 Carrier phase ranging

GNSS

challenged pit mines

Other Radio

Frequencies m 10 – 1000

Fingerprinting, proximity

Person tracking Inertial

Navigation 1% 10 – 100 Dead reckoning

Pedestrian navigation Magnetic

Systems mm – cm 1 – 20

Fingerprinting and ranging

Hospitals, mines Infrastructure

Systems cm - m building

Fingerprinting, capacitance

Ambient assisted living

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Figure 1.1: Indoor technologies in dependence on accuracy and coverage [14]

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1.2 Project Background

WLAN (Wireless Local Area Network), Wi-Fi and IEEE 802.11 all means the same [5]. It is an industrial standard that used for wireless data transmission. Wi-Fi used electromagnetic waves in order to transmit data over the airwaves medium. Obviously, they are not designed and deployed for the purpose of positioning. However, measurements of received signal strength (RSS) of the signal transmitted by either access point (AP) imply the location of any mobile user [9].

There are several positioning algorithms that can be used in determining the current position of user like triangulation, trilateration and scene analysis. From the RSS, it can be used to compute to determine the location or coordinate of the user.

Figure 1.3: Positioning system block diagram

Figure 1.3 shows the block diagram of the system. There is a vector power between the user referenceor target to the AP. This vector can be used to determine the distance by using positioning algorithm that will be discuss in Chapter 2, literature review. Then, the position or coordinates of the user will display on MATLAB Graphic User Interface (GUI).

This project using an existing Wi-Fi infrastructure in localizing and positioning even it was never designed to do so. The coverage area of this project was at Block B, Ground Floor, FKEKK (Fakulti Kejuruteraan Elektronik dan Kejuruteraan Komputer) because of the number of APs located there.

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1.3 Problem Statement

Indoor location sensing systems has become very important and popular in recent years [3][8]. They, gradually play an important role in all aspects of people‟s daily lives including e.g. living assistant, navigation, emergency detection, surveillance or tracking target-of-interest and many other location-based services [4].

Nowadays, WLAN technology can be found in almost every building [5]. It is because an advancement of technology in developing devices like smartphones which can directly connected to the internet. Internet has become a daily needs especially for getting knowledge.

GPS is the most popular positioning system for outdoor environment and plays a dominant role in localization. It can provide precise locations of mobile devices within worldwide coverage.

However, GPS has shadow problem and is not available, not operate and not suitable for indoor environments [9][10][12]. This inefficiency is due to the weakness of signals emitted and their disability to penetrate most building materials [4]. It performance deteriorates in indoor use and in urban environments [1].

1.4 Objectives

The main objectives of this project can be summarized as follows:

i. To develop a location and positioning simulation estimation using MATLAB software at FKEKK, UTeM.

ii. To analyze the performance of location estimation based on fingerprint technique.

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1.5 Scope of Project

Development of the Localization and Positioning via Wi-Fi signals have chosen after doing research from the books, internet, electronic magazine and other resources due to human demand for indoor positioning system. This project needs no hardware modification for Wi-Fi infrastructure and no cost required.

Localization and Positioning via Wi-Fi signals is an innovation of locating and tracking user or property. The scopes of this project require using of hardware and software for measurement phase and software development for testing phase.

For the first phase of the project development, data collection (offline phase) has been done at Block B, Ground Floor, FKEKK, UTeM. The process of collecting data is called surveying phase where at each point need to collect RSS in determining the distance during online phase. The collected data will used as database for applying the location estimation algorithm in MATLAB software. After completed this phase, GUI will be develop to display the current location and position of the user. Figure 1.4 shows an overall flow chart of the scope of project.

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Figure 1.4: Flow chart scope of project End

Start

Surveying phase Scene analysis technique

Literature reviews: Triangulation

Trilateration Scene analysis

GUI development Software accuracy?

Yes No

Scene analysis techniques based on Nearest Neighbor method Development of location estimation

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Table 1.2: Indoor Positioning Technologies [14]

Technology Typical Accuracy Typical Coverage (m) Typical Measuring Principle Typical Application

Cameras 0.1mm -

dm 1 – 10

Angle measurements from images Metrology, robot navigation

Infrared Cm – m 1 - 5 Thermal imaging,

active beacons

People detection, tracking Tactile & Polar

Systems µ m – mm 3 – 2000

Mechanical, interferometry

Automotive, metrology

Sound cm 2 – 10 Distances from time

of arrival

Hospitals, tracking

WLAN/Wi-Fi m 20 – 50 Fingerprinting

Pedestrian navigation, LBS

RFID dm - m 1 – 50 Proximity detection,

fingerprinting

Pedestrian navigation

Ultra-Wideband cm - m 1 – 50

Body reflection, time of arrival

Robotics, automation High Sensitive

GNSS 10 m „global‟

Parallel correlation, assistant GPS

Location based services

Pseudolites cm - dm 10 – 1000 Carrier phase ranging

GNSS

challenged pit mines

Other Radio

Frequencies m 10 – 1000

Fingerprinting, proximity

Person tracking Inertial

Navigation 1% 10 – 100 Dead reckoning

Pedestrian navigation Magnetic

Systems mm – cm 1 – 20

Fingerprinting and ranging

Hospitals, mines Infrastructure

Systems cm - m building

Fingerprinting, capacitance

Ambient assisted living

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Figure 1.1: Indoor technologies in dependence on accuracy and coverage [14]

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1.2 Project Background

Figure 1.3: Positioning system block diagram

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1.3 Problem Statement

GPS is the most popular positioning system for outdoor environment and plays a dominant role in localization. It can provide precise locations of mobile devices within worldwide coverage.

1.4 Objectives

The main objectives of this project can be summarized as follows:

i. To develop a location and positioning simulation estimation using MATLAB software at FKEKK, UTeM.

ii. To analyze the performance of location estimation based on fingerprint technique.

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1.5 Scope of Project

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Figure 1.4: Flow chart scope of project

End Start

Surveying phase Scene analysis technique

Literature reviews: Triangulation

Trilateration Scene analysis

GUI development Software accuracy?

Yes No

Scene analysis techniques based on Nearest Neighbor method Development of location estimation

Localization And Positioning via Wi-Fi Signals.