Evaluation of Tracking Algorithms using Heterogeneous Technologies

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Evaluation of Tracking Algorithms Using Heterogeneous Technologies

Francesco Sottile(1), Maurizio A. Spirito(1),

Pau Closas(2), Javier Arribas(2), Carles Fernández(2),

EU funded project:

_Partners:

Pau Closas(2), Javier Arribas(2), Carles Fernández(2), Montse Nájar(3), Eva Lagunas (3),

Davide Dardari(4), Nicolò Decarli(4),

Partners:

Davide Dardari(4), Nicolò Decarli(4), Andrea Conti(5)_{,Matteo Guerra}(5)

(1)_{Istituto Superiore Mario Boella (ISMB), Italy.} (1)_{Istituto Superiore Mario Boella (ISMB), Italy.}

(2)_{Centre Tecnològic de Telecomunicacions de Catalunya (CTTC), Spain.} (3)_{Universitat Politècnica de Catalunya (UPC), Spain.}

Network of Excellence in ₍₃₎_{Universitat Politècnica de Catalunya (UPC), Spain.}

(4)_{University of Bologna (CNIT-BO), Italy} (5)_{University of Ferrara (CNIT-FE), Italy}

Network of Excellence in Wireless COMmunications

Workpackage WPR.B: University of Ferrara (CNIT-FE), Italy Workpackage WPR.B:

“Localization and Positioning"

Environment, Mobile Target, Matlab GUI

Indoor Office Environment

Matlab GUI

Actual Trajectory ∆ ∆∆ ∆TposEst= 500 m sec ∆ ∆∆ ∆TPosEst = 500 m sec

CC2420 ZigBee

Mobile Target

_{Algorithms Tested}

LEGO

ZigBee

(CC2430) 3-axis accelerometer_(IMOTE2)

CC2420 ZigBee

Module

PulsOn220

Algorithms Tested

Using Hybrid Data:

ZigBee-RSS, UWB-dist, Acc.

∆ ∆∆ ∆T = 50 m sec LEGO ROBOT Path

PulsOn220

UWB Module

ZigBee-RSS, UWB-dist, Acc.

EKF (Extended Kalman Filter)

∆ ∆∆

∆TRSS = 50 m sec

Path

Accel. Module

EKF-BT (EKF Bias Tracking ) PF (Particle Filter)

UWB

IMOTE2 Sensor Board ITS400

Y

Accel. Module

CRPF (Cost Reference PF)

CKF (Cubature Kalman Filter)

∆ ∆∆

∆TAccel = 2 m sec

UWB

(PulsOn220 by Time Domain)

X Z

Max Speed: 0.44 m/sec

∆ ∆ ∆

∆TUWB = 500 m sec

Max Speed: 0.44 m/sec

3-axis accelerometer

LIS3L02DQ

Evaluation of Tracking Algorithms using Heterogeneous Technologies