Basic Principles of Terrestrial Navigation

WHAT IS TERRESTRIAL NAVIGATION? It is the method of navigation used by maines that uses !andma"s as efeen#e $oints% shi$&s stabi!ity% fue! #onsum$tion and shi$&s s$eed a!ong 'ith tides and #uents( This is the o$$osite of #e!estia! navigation% 'hi#h $!ots $ositions in e!ation to the stas( LATIT)*E AN* LONGIT)*E LATIT)*E Latitude +sho'n as a hoi,onta! !ine- is the angu!a distan#e% in degees% minutes% and se#onds of a $oint noth o south of the E.uato( Lines of !atitude ae often efeed to as $aa!!e!s( LONGIT)*E Longitude +sho'n as a veti#a! !ine- is the angu!a distan#e% in degees% minutes% and se#onds% of a $oint east o 'est of the /ime +Geen'i#h0eidian( Lines of !ongitude ae often efeed to as meidians( 1ASI2 /RIN2I/LE O3 TERRESTRIAL NAVIGATION

2!o#"s of a!! A/s and 0S have to be a##uate!y syn#honi,ed if sing!e ti$ measuements ae used Round ti$ measuements #onsum doub!e the numbe of adio esou#es In NLOS s#enaios measued $o$agation time is too !ong and does not a!!o' to da' #on#!usions about the e.uied geometi# distan#e 

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Pat,&loss Based %pproac, - Summary  Pros/)ons Basic 0dea of Pat,&loss Based / Signal Strengt, %pproac, 0easuement of e#eived $o'e Pr of signa! e4#hanged bet'een  A/s and 0S 9no'!edge of tansmitted $o'e Pt of signa! 2a!#u!ation of instantaneous $ath !oss ; gain using Pr and Pt 2a!#u!ation of mean $ath !oss ; gain to e!iminate the inf!uen#e of s!o' fading  Assum$tion of LOS and $o$agation $o$agation mode! in#!( its $aametes and to #a!#u!ate distan#e bet'een A/s and 0S 

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Pros Lo' #om$!e4ity )ons Sensitive to s!o' and fast fading as 'e!! as mode! eos Lo' a##ua#y% a##ua#y de#eases 'ith abso!ute distan#e to be estimated  Aveaging ove ove fading on!y $ossib!e $ossib!e if suffi#ient suffi#ient movement of of 0S /aametes and of the $o$agation mode! have to be "no'n Tansmitted Tansmitted $o'e Pt has to be "no'n 'hi#h is #iti#a! if $o'e #onto! is a$$!ied In NLOS s#enaios measued $ath !oss does not a!!o' to da' #on#!usions about the e.uied geometi# distan#e 

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It is used to detemine the shi$&s $osition using teestia! !andma"s su#h as !ighthouse% bouys% is!ands and othe fi4 ob5e#ts(

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 A lighthouse is a to'e% bui!ding% o othe ty$e of stu#tue designed to emit !ight fom a system of !am$s and !enses% and to seve as a navigationa! aid fo maitime $i!ots at sea o on in!and 'ate'ays(  A bouy  is  is a distin#tive!y sha$ed and ma"ed f!oat% sometimes #aying a signa! o signa!s% an#hoed to ma" a #hanne!% an#hoage% navigationa! ha,ad% et#(% o to $ovide a mooing $!a#e a'ay fom the shoe(

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P,ase Difference Based %pproac, - Summary  Pros/)ons Basic 0dea of P,ase Difference Based %pproac,  E4#hange of t'o8tone signa! bet'een A/s and 0S 0easuement of ,eo8$hase diffeen#e bet'een both tones at e#eive  Time syn#honi,ation bet'een A/s and 0S 2a!#u!ation of distan#e based on ,eo8$hase diffeen#e Pros High a##ua#y 0edium #om$!e4ity Robust to f!u#tuations in am$!itude of e#eived signa! +!eve! fading)ons Signa!s of t'o fe.uen#ies ne#essay  Ambiguity of distan#e distan#e estimate estimate #oase distan#e estimate ne#essay as in$ut Sensitive to im$efe#t time syn#honi,ation In NLOS s#enaios measued $ath !ength does not a!!o' to da' #on#!usions about the e.uied geometi# distan#e 

Basic principles of terrestrial navigation Outline and Structure 3. Basic principles of terrestrial navigation 3.1 Dead Reckoning 3.2 Proximity Systems 3.3 Distance ased !avigation 3." Distance difference ased !avigation 3.# Distance ratio ased !avigation 3.$ %ngle&of&arrival ased !avigation 3.' Signature ased !avigation 3.( )ooperative navigation in radio and sensor net*orks Dead Reckoning Dead reckoning is the $o#ess of estimating one&s #uent $osition based u$on a $evious!y detemined $osition% o fi4% and advan#ing that $osition based u$on "no'n s$eed% e!a$sed time% and #ouse( 0easuements of s$eed6 odomete% e(g( 'hee! senso o inetia! senso +a##e!eomete0easuement of #ouse6 #om$ass o inetia! senso +gyos#o$e*ead e#"oning has been used in many a$$!i#ations !i"e e(g( maine navigation% ai navigation 

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Proximity Systems Proximity positioning systems ae a!so "no'n as sign$ost o bea#on systems% the $osition estimates fo an ob5e#t ae detemined fom its $o4imity to fi4ed dete#tion devi#es E4am$!es fo dete#tion devi#es6 magneti# sensos% adio tansmitte% tansmitte% 7 Sim$!est $ositioning system Eithe se!f8 o emote $ositioning

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+ime Difference Based %pproac, - Summary  Pros/)ons Basic 0dea of +ime&Differen +ime&Difference ce / +ime&Diff. Of. %rrival +DO% approac, 0easuement of $o$agation time bet'een A/s and 0S 9no'!edge of $o$agation s$eed of adio 'ave +s$eed of !ight in va#uum Assum$tion of LOS to #a!#u!ate #a!#u!ate distan#e diffeen#es diffeen#es bet'een A/s and 0S 2!o#"s of 0S does not have to be a##uate!y syn#honi,ed to the #!o#"s of A/s% sing!e ti$ measuements ae $ossib!e Pros  

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:uite a##uate 0odeate #om$!e4ity

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+ime Based %pproac, - Summary  Pros/)ons Basic 0dea of +ime&Based / +ime&of&%rrival +O% approac, 0easuement of $o$agation time bet'een A/s and 0S 9no'!edge of $o$agation s$eed of adio 'ave +s$eed of !ight in va#uum Assum$tion of LOS LOS to #a!#u!ate distan#e bet'een A/s and 0S 

)ons 0oe A/s ne#essay than in distan#e based a$$oa#hes In NLOS s#enaios measued $o$agation time is too !ong and does not a!!o' to da' #on#!usions about the e.uied geometi# distan#e  

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Pros :uite a##uate 0odeate #om$!e4ity  

)ons

Distance Ratio %pproac, - Summary  Pros/)ons Basic 0dea of Pat,&loss Ratio Based / Signal Strengt, Ratio %pproac, 0easuement of e#eived $o'e Pr at A/s of signa! e4#hanged bet'een A/s and 0S Inte$etation of e#eived $o'e as instantaneous $ath !oss ; gain 2a!#u!ation of mean $ath !oss ; gain to e!iminate the inf!uen#e of s!o' fading 

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 Assum$tion of LOS and $o$agation mode! in#!( its $aametes to #a!#u!ate the distan#e atios bet'een A/s and 0S 

Pros Lo' #om$!e4ity No infomation about 0S antenna gain and;o 0S tansmission $o'e Pt ae ne#essay if measuement in u$!in" )ons Sensitive to s!o' and fast fading as 'e!! as mode! eos Lo' a##ua#y% a##ua#y de#eases 'ith abso!ute distan#e to be estimated  Aveaging ove fading on!y $ossib!e if suffi#ient movement of 0S /aametes of the $o$agation mode! has to be "no'n In NLOS s#enaios measued $ath !oss does not a!!o' to da' #on#!usions about the e.uied geometi# distan#e  

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%ngle of %rrival ased %pproac, - Summary  Pros/)ons Basic 0dea of %ngle of %rrival %o% ased %pproac, 0easue adiated signa!s at eithe 0S o A/s 'ith mu!ti8antenna+so die#tive antenna+s*etemine AoA of adiated signa!s at eithe 0S o A/s  Assuming die#t adio $o$agation a!ong the LOS use geometi#a! e!ationshi$ and "no'n $osition of A/s and AoA to detemine $osition of 0S 

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Pros On!y < o even = +hybid- A/s ne#essay fo $ositioning No a##uate syn#honi,ation ; timing ne#essay Not sensitive to s!o' o fast fading% no inf!uen#e of fading on $ositioning a##ua#y )ons In NLOS s#enaios measued AoA does not a!!o' to da' #on#!usions about ea! geomety )ti!i,ation of mu!ti8antennas ; die#tive antennas at A/s and;o 0S ne#essay 0edium a##ua#y% a##ua#y de#eases 'ith abso!ute distan#e bet'een 0S and A$s   

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Basic 0dea of Signature ased %pproac, / 6ingerprinting 2haa#tei,e Obsevation aea 'ith es$e#t to signatue +e(g( 20and setu$ database +off!ine ste$0easue #uent signatue fo $ositioning +on!ine ste$2om$ae measued signatue 'ith database to detemine $osition of  0S Pros We!! suited fo s#enaios 'ith mu!ti8$ath envionment even if no L OS is avai!ab!e 20s ae es$e#ia!!y uni.ue in mu!ti8$ath non !ine8of8sight +NLOSs#enaios 222 is 'e!! suited fo #om$aing 20s a#hievab!e !o#a!i,ation a##ua#y .uite $omising even if #onsideing a sing!e 1S obust 'ith es$e#t to distubed estimates of 2IRs )ons 3o a##ua#te $ositioning !age database ne#essay Setu$ of !age database and #om$aision 'ith !age database #om$!e4 Setu$ of database needs a##uate mode!s o #om$!i#ated measuement #am$aigns Im$a#t of #hanges in the envionment ; 'eathe on database has to be #om$ensated 

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Radio& and Sensor !et*orks  A sensor net*ork is a net'o" of sevea! simi!a tiny nodes 'hi#h #ommuni#ate 'ith ea#h( The #ommuni#ation ta"es $!a#e 'ithout additiona! infastu#tue and is ad8ho# E4am$!es6 measuement systems% monitoing% mi!itay a$$!i#ations +smat dust-% 7 /ositions of some Nodes may be "no'n +1ea#on Nodes% hee6  A/s-% $ositions of othe nodes ae a $ioi not "no'n 

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Based 4ocali5ation Principle off!ine6 > stoe signatues fo suffi#ient!y many efeen#e $oints of  the s#enaio in a data base on!ine6 > #om$aison of #uent!y measued signatue 'ith enties in data base > best mat#h@ gives the most $obab!e $osition of the 0S

)ooperative Positioning - Summary  Pros/)ons Basic 0dea of )ooperative Positioning )se infomation of distan#es bet'een nodes in a net'o" to detemine $osition of nodes )se bea#on node fo abso!ute a!ignment and initia!i,ation Im$ove $osition a##ua#y by edundant measuements Pros High $ositioning a##ua#y in !age net'o"s )sab!e in $at!y #onne#ted net'o"s 2enta!i,ed and *e#enta!i,ed $ositioning $ossib!e )ons 2ommuni#ation Resou#es .uite !age In NLOS s#enaios measued distan#es do not a!!o' to da' #on#!usions about ea! geomety 

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Signature ased %pproac, - Summary  Pros/)ons