System Architecture 上通字 SHANGHAI JIAO TONG UNIVERSITY u The system consists of quadrotor(smartphone) and localization server I Quadrotor(UAV) Client Networks Network Interface I Localization Server Service Requester Delay Tester Network Interface Flight RSS Turning Preliminary Controller Measurer Detector Localizer Database Antenna Direction SensorI Path Corrector Path Estimation I Access points Path Fitting RSS Location Prediction Interpolator 11
System Architecture ❑ The system consists of quadrotor (smartphone) and localization server. 11
Outline 上通字 SHANGHAI JIAO TONG UNIVERSITY 口 Motivation 口 SystemArchitecture a Working Process Off-line stage On-line stage a Localization Algorithm a Measurement and Evaluation 口 Conclusion
12 Outline ❑ Motivation ❑ System Architecture ❑ Working Process ➢ Off-line Stage ➢ On-line Stage ❑ Localization Algorithm ❑ Measurement and Evaluation ❑ Conclusion 12
Working Process: Oif-line Stage 上通字 SHANGHAI JIAO TONG UNIVERSITY O Divide the localization region into cubes with constant size 2 Measure RSS at 1 of each 8 cubes only 3 Upload the data to the localization server o Process the data according to the 4-D RSS Interpolation Algorithm 13
Working Process: Off-line Stage ① Divide the localization region into cubes with constant size. ② Measure RSS at 1 of each 8 cubes only. ③ Upload the data to the localization server. ④ Process the data according to the 4-D RSS Interpolation Algorithm. 13
Working Process: e Stage②上支 d 4-D RSS Interpolation algorithm >Gi: a cube with coordinate(,M,i∈1,Ⅺ,j∈,Y,h∈1, C全{(,1)∈[1,X],j∈[1,Y],h∈1,2]} >C{(i,b)=1,3,5,…,x;j=1,3,5,…,Y;h=1,3,5,…,z} u We collect training data for 1 of each 8 cubes O={031(,,b)∈C} where Oiih- oinla=1, 2,,N) >s=1M and m is the number of aps n is the number of training data at each cube
Working Process: Off-line Stage ❑ 4-D RSS Interpolation Algorithm ➢ : a cube with coordinate . ➢ ➢ ➢ ❑ We collect training data for 1 of each 8 cubes: ➢ s = 1,…,M and M is the number of APs; N is the number of training data at each cube. 14
Working Process: Oif-line Stage 上通字 SHANGHAI JIAO TONG UNIVERSITY a The probability for o to appear at Giih is Sq 2 p(G)=∑ ex p( 2a2 -),(2,,h)∈C Gijh: a cube in the fingerprint map generated by AP s a Since p(Gih )is constant, let Ps(0, i,j, h)=p(olGiih)It is continuous in the 4-D space {(,j,b)0∈[-150.0],(,j,h)∈C > We have gotten the values when o∈[-150,0and(i,j,h)∈C。 15
Working Process: Off-line Stage ❑ The probability for to appear at is ➢ : a cube in the fingerprint map generated by AP s. ❑ Since p( ) is constant, let . It is continuous in the 4-D space ➢ We have gotten the values when 15