IEEE 802.15-09-0613-01-004f Submission Nov 2009 Wolfram Kluge, AtmelSlide 1 Project: IEEE P802.15...

Nov 2009

Wolfram Kluge, AtmelSlide 1

IEEE 802.15-09-0613-01-004f

Submission

Project: IEEE P802.15 Working Group for Wireless Personal Area Networks (WPANs)Project: IEEE P802.15 Working Group for Wireless Personal Area Networks (WPANs)

Submission Title: [Ranging with IEEE 802.15.4 Narrow-Band PHY]Date Submitted: [14 September, 2009]

Source: [Wolfram Kluge, Dietmar Eggert]Company: [Atmel]Address: [Koenigsbruecker Strasse 61, 01099 Dresden, Germany]E-Mail: [E-Mail: [email protected], [email protected]]

Re: [Response to Call for Final Proposals]Abstract: [Proposal of using IEEE 802.15.4 Narrow-Band PHY for Ranging and Localization]

Purpose: [To present the method of performing ranging in a narrow-band transceiver using phase measurements]

Notice: This document has been prepared to assist the IEEE P802.15. It is offered as a basis for discussion and is not binding on the contributing individual(s) or organization(s). The material in this document is subject to change in form and content after further study. The contributor(s) reserve(s) the right to add, amend or withdraw material contained herein.

Release: The contributor acknowledges and accepts that this contribution becomes the property of IEEE and may be made publicly available by P802.15.

mailto:[email protected]

Nov 2009


IEEE 802.15-09-0613-01-004f

Submission

IEEE 802.15.4 PHY usage for Active RFID and Ranging

• Widely adopted for wireless sensor networks, home control and industrial automation and similar applications

• Proven technology• Although narrow-band, it is suitable for ranging even under multipath

environments• Less additional hardware needed in existing transceiver design

Nov 2009


IEEE 802.15-09-0613-01-004f

Submission

IEEE 802.15.4 PHY extensions needed

• Transmitting carrier for short times (blocking modulation)• Phase measurement unit• State machine to coordinate transmit and receive mode with appropriate timing

can be implemented in hardware or software

Nov 2009


IEEE 802.15-09-0613-01-004f

Submission

Advantage of Phase-Based Ranging

• Fits to narrow-band transceiver design – only carrier transmitted

• Any unknown delay in the transceiver (clock skew, filter group delay,…) has no impact on ranging accuracy

• No impact of channel filter group delay

– Example: 2MHz, tg=325ns+/- 5% +/- 16ns systematic error contribution by receiver

– Corresponds to 4.8m systematic range error in ToA systems!

– No impact on phase measurements, since all phases are measured at exactly the same IF frequency

• 10 to 20 times faster than Time-of-Arrival with IEEE 802.15.4 compliant frames

• Needed to perform ranging measurements at multiple frequencies to mitigate multipath effect

• Fast scanning of multiple frequency channels allows tracking of moving objects

• Fast scanning saves power and improves batter life time

Nov 2009


IEEE 802.15-09-0613-01-004f

Submission

Choice of TX signal for phase measurements

Phase measurements can be done with 1. Cross-correlation of IEEE 802.15.4 frames

• Utilizing preamble spreading sequence• Complex cross correlation in baseband domain yields phase of received

signal• One frame per frequency at least about 300µs

2. CW carrier • less than 1us needed for phase measurement• Practically 10-20 µs to allow PLL to settle completely Much faster, therefore preferred

Nov 2009


IEEE 802.15-09-0613-01-004f

Submission

Active Reflector Principle (1)

RXTX

RXTX

Device B(Reflector)

Device A(Initiator)

• Device A initiates ranging measurement• Device A transmits carrier device B performs phase measurement• changing transmit direction in both devices• Device B transmits carrier device A performs phase measurement• Device B transmits frame with measurement results to Device A• Device A is able to calculate range• Bidirectional traffic needed for devices with asynchronous time base

Nov 2009


IEEE 802.15-09-0613-01-004f

Submission

Active Reflector Principle (2)

• PLL is running at same frequency at TX and RX mode• Receiver measures phase between LO signal and received carrier• Phase measurement can be done at any down-converted signal since frequency

conversion maintains phase information• Propose phase measurement at IF frequency in low-IF receiver

Time

Transmit Receive

PLL

Antenna

j

Device A

Nov 2009


IEEE 802.15-09-0613-01-004f

Submission

Ranging with Active Reflector

• TX signal phase of device B (reflector) must be the same as of the received signal. hard to implement

Proposal:• Device B measures phase of receives signal relative to own LO signal phase.• Phase difference is transferred to device A used as correction factor.

Nov 2009


IEEE 802.15-09-0613-01-004f

Submission

Ranging Procedure (1)

Time [µs]

TX

TX

RX

TX

RX

Ranging Request

Ranging Ack

N Phase Measurements( N = 80MHz / Df )

Phase Meas.

Results

DistanceCalculation

total time ~ 12ms (Df= 1MHz)

B

Device

A

(~150 µs)

…….

Network Channel

TX Frequency

2401

2481

RX

Tprep

…….

Network Channel

2*Tslot

Nov 2009


IEEE 802.15-09-0613-01-004f

Submission

Ranging Procedure (2)

Device A Transmitting Ranging Request Frame Receiving Ranging Ack Locking AGC Starting timer after RX end Setting PLL to 1st meas. freq. Starting phase meas. sequence Setting PLL to orig. freq. Acking Result Frame Releasing AGC Lock Restoring IF position Distance calculation

Device B Locking AGC after Request

Frame receive Transmitting Ranging Ack Starting Timer after TX end Correcting Frequency offset with

PLL Setting PLL to 1st meas. freq. Starting phase meas. sequence Setting PLL to orig. freq. Transmitting results frame Receiving Ack Releasing AGC Lock

Nov 2009


IEEE 802.15-09-0613-01-004f

Submission

Ranging Request FrameDevice A sends Ranging Request Frame to device B.Parameters:• Start frequency (2401 MHz … 2483 MHz)• Stop frequency (2401 MHz … 2483 MHz)• Step frequency (0.5 MHz, 1 MHz, 2 MHz)• Slot time (0…255)*1s

Device B acknowledges this frame.Sequence of transmitting CW carriers starts after fixed Tprep measured from

acknowledge frame end.After Tprep device B transmits data frame back to device A (two frames if more than 112

frequencies are used).

Step frequency sets max. distance that can be measured.

Fstep (MHz) 0.5 1 2

Max. Dist. (m) 300 150 75

Nov 2009


IEEE 802.15-09-0613-01-004f

Submission

Ranging Results

Device A calculates range by averaging method. The result is a 16-bit integer value representing the phase difference between Fstart and Fstop.

Where c is the speed of light and phase is measured with an 8-bit integer value (2 == 256). This avoids division calculation in the C.

Integer result allows post processing of ranging date from different devices within the network by devices based on micro controllers (avoiding floating point calculation).

Return value 0xFFFF proposed for invalid result.

256D

startstop FF

cD j

Nov 2009


IEEE 802.15-09-0613-01-004f

Submission

Implementation Example of Phase Measurement

• Example: Low-IF receiver• Phase difference measured between IF signal and divided clock signal• Capturing time difference between signal edges (zero crossing of sine signals)• Phase difference independent of time (for zero frequency offset between

devices)

ReceiverTransmitter

Phase Meas.Unit

/8

XtalOsc.

PLL

2

16

22400

15.4 Radio

j

IF Signal

Xtal Reference

Dt

j2Dt/T

Nov 2009


IEEE 802.15-09-0613-01-004f

Submission

Distance Calculation by Averaging for line-of-Sight channel

MHzc

D8021 D

j

Simple method to cope with multipath effects Adding all Dj to reconstruct phase over 80MHz bandwidth Distance calculation:

Is identical to average group delay

ftg D

D

j21

fNtc

D g

D 21

Issue: Df must be small enough to avoidcycle slip for largest distance

Nov 2009


IEEE 802.15-09-0613-01-004f

Submission

Multipath Propagation• Most significant error in ranging measurements• Narrow-band measurement (2MHz bandwidth) very prone to multipath channel

(Corresponds to sampling of channel group delay curve at arbitrary frequency)

Solution: • gathering information over as a wide frequency band as possible• About 80MHz in 2.4GHz ISM band

Flexibility:• Depending on severity of multipath propagation (ratio of LOS signal power to signal power in

delay paths) the number of frequencies used can be chosen

Issue with statistical channel models (like JTC-B)• LOS component amplitude is Rayleigh distributed producing to some percentage a LOS signal

below any detection level.• In this case the channel does not contain the information to get the correct ranging results.

Nov 2009


IEEE 802.15-09-0613-01-004f

Submission

Distance Calculation by IFFT

• Measuring phase difference and RSSI value for each frequency• Accumulating phase differences to reconstruct phase j(f)• Generating complex baseband signal x(f) = RSSI(f)*exp(jj(f))• IFFT shows channel impulse response.• Selecting 1st tap to identify LOS component• Restriction: 1.875m resolution due to 80MHz bandwidth of ISM band

(double distance measured)

• Higher computational effort than averaging, but more robust under harsh multipath environments (office or industrial environment)

Nov 2009


IEEE 802.15-09-0613-01-004f

Submission

80 phase measurements @1MHz 100 channel representations Distance error for LOS multi-path environment

(D=37.5m, Td=125ns) LOS path with const. amplitude=1 in I and Q Tap delays vary with 5ns rms

Distance Error Simulation for line-of-Sight ChannelDistance Error Histogram

No.

of R

esul

ts

Distance Error [m]

Channel Impulse Response

I and

Q S

igna

l Am

plitu

de

Time [sec]

Distance calculated from average group delay

Distance Error less then +/- 0.5m

Nov 2009


IEEE 802.15-09-0613-01-004f

Submission

Distance Error Simulation for JTC-B Channel Model

Td=125ns (D=37.5m)

IFFT with 80samples

Df=1MHz 1000 channels

Amplitude with 3dB resolution vs. no quantization both 23 errors

Mag

nitu

de I+

jQM

agni

tude

Distance/3.75m

Red: cont. RSSIBlue: 3dB quant.RSSI

RS

SI [

dB]

Dis

tanc

e/3.

75m

SampleTime [sec]

Frequency [Hz]

RSSI Amplitude with 3dB Resolution Reconstructed Impulse Response

Channel Impulse ResponseEstimated Distance (1st tap)

• In 2.3% of statistical channel samples distance estimation fails.• Reason: partly due to Gaussian amplitude of LOS path!!!

Nov 2009


IEEE 802.15-09-0613-01-004f

Submission

Distance Measurement Results

• Algorithm verified with cable connection• Phase measured at 80 frequencies with 1MHz stepping• 8 phase values measured per frequency• Steepness is proportional to distance

PhiA - PhiB

0

50

100

150

200

250

300

350

400

2400 2410 2420 2430 2440 2450 2460 2470 2480

Frequency [MHz]

Pha

se D

iffer

ence

[deg

ree]

Nov 2009


IEEE 802.15-09-0613-01-004f

Submission

15.4b PHY as option to active RFID

Option 1• RFID tag with UWB TX and 2.4GHz RX• Best location accuracy • Inherent robustness against multipath

propagation• Best choice for fixed industrial

environment

Option 2• RFID tag TX and RX 2.4GHz at RX• Moderate location accuracy• Longer range• Utilizing existing PHY standard • Utilizing existing MAC as protocol• Enables location awareness in

sensor networks• Adds RFID functionality to sensor

networks• Allows RFID application w/o need of

synchronous backbone infrastructure

Nov 2009


IEEE 802.15-09-0613-01-004f

Submission

Summary

• Ranging with phase measurements fits to narrowband transceiver hardware utilized in IEEE 802.15.4 devices

• Less hardware extensions needed to perform phase measurements

• Distance resolution not prone to transceiver group delay – no transceiver calibration needed

• Ranging at multiple channel frequencies allows mitigation of multipath effects

IEEE 802.15-09-0613-01-004f Submission Nov 2009 Wolfram Kluge, AtmelSlide 1 Project: IEEE P802.15...

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Transcript of IEEE 802.15-09-0613-01-004f Submission Nov 2009 Wolfram Kluge, AtmelSlide 1 Project: IEEE P802.15...