Determining location with diffraction propagation
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Transcript of Determining location with diffraction propagation
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Determining location with diffraction propagation
Micah Taylor2008-10-13
http://kixor.net/school/2008fall/comp790/project/
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Localization
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Localization
• Finding location relative to wave source
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Localization
• Finding location relative to wave source– Cell phones
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Localization
• Finding location relative to wave source– Cell phones– GPS
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Localization
• Finding location relative to wave source– Cell phones– GPS– Much work in robotics
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Types of propagation
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RF propagation
• Direct– From source to receiver– Strongest
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RF propagation
• Direct– From source to listener– Strongest
• Reflection– Bounces off things– Multipath
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RF propagation
• Direct– From source to listener– Strongest
• Reflection– Bounces off things– Multipath
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RF propagation
• Direct– From source to listener– Strongest
• Reflection– Bounces off things– Multipath
• Diffraction– Travel around buildings– Multipath
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Diffraction
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Diffraction
• Bending around objects
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Diffraction
• Bending around objects
• Allows out of LOS paths
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Diffraction
• Bending around objects
• Allows out of LOS paths
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Diffraction
• Bending around objects
• Allows out of LOS paths
• Very important for signalin cities!
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Diffraction research
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Diffraction research
• Huygens’ diffraction
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Diffraction research
• Huygens’ diffraction
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Diffraction research
• Huygens’ diffraction
• Several models
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Diffraction research
• Huygens’ diffraction
• Several models– Huygens-Kirchhoff– Fresnel– GTD– UTD– BTM
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Frustum tracing
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Frustum tracing
• No complicated wave effects
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Frustum tracing
• No complicated wave effects
• Uses geometry to estimate propagation
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Frustum tracing
• No complicated wave effects
• Uses geometry to estimate propagation
• Models propagation
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Frustum tracing
• No complicated wave effects
• Uses geometry to estimate propagation
• Models propagation– Stronger in LOS– Bounces
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Frustum tracing
• No complicated wave effects
• Uses geometry to estimate propagation
• Models propagation– Stronger in LOS– Bounces
• Discrete volumes
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Advantages
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Advantages
• Very fast
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Advantages
• Very fast
• Supports moving objects
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Advantages
• Very fast
• Supports moving objects
• Different materials
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Advantages
• Very fast
• Supports moving objects
• Different materials
• Convincing results
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Advantages
• Very fast
• Supports moving objects
• Different materials
• Convincing results
• Runs on ordinary PC
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Other work
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Other work
• Raytracing
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Other work
• Raytracing– Dynamic/complex scenes– Slow and aliases
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Other work
• Raytracing– Dynamic/complex scenes– Slow and aliases
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Other work
• Raytracing– Dynamic/complex scenes– Slow and aliases
• Beam tracing
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Other work
• Raytracing– Dynamic/complex scenes– Slow and aliases
• Beam tracing– Fast without aliasing– Static/simple scenes
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Other work
• Raytracing– Dynamic/complex scenes– Slow and aliases
• Beam tracing– Fast without aliasing– Static/simple scenes
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Other work
• Raytracing– Dynamic/complex scenes– Slow and aliases
• Beam tracing– Fast without aliasing– Static/simple scenes
• Frustum tracing
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Other work
• Raytracing– Dynamic/complex scenes– Slow and aliases
• Beam tracing– Fast without aliasing– Static/simple scenes
• Frustum tracing– Some aliasing
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Goals
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Goals
• Combine RF diffractionwith frustum tracing
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Goals
• Combine RF diffractionwith frustum tracing
• Find possible paths throughenvironment
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Goals
• Combine RF diffractionwith frustum tracing
• Find possible paths throughenvironment
• Attempt localization usingpath attenuation
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