NEW APPROACH OF INDOOR AND OUTDOOR LOCALIZATION SYSTEMS Edited by Fouzia Boukour Elbahhar and Atika Rivenq New Approach of Indoor and Outdoor Localization Systems http://dx.doi.org/10.5772/2751 Edited by Fouzia Boukour Elbahhar and Atika Rivenq Contributors Manuel Perez-Ruiz, Shrini K. Upadhyaya, María Laura Mateo, María Virginia Mackern, Stephan J.G. Gift, F. Elbahhar, B. Fall, A. Rivenq, M. Heddebaut, R. Elassali, Alberto Giretti, Alessandro Carbonari, Massimo Vaccarini, Miika Valtonen, Timo Vuorela, Stefano Maddio, Alessandro Cidronali, Gianfranco Manes, Abdullah Al-Ahmadi, Tharek Abd. Rahman, Xiaoying Kong, Li Liu, Heung-Gyoon Ryu, Aleksander Nawrat, Karol Jędrasiak, Krzysztof Daniec, Roman Koteras, Xin Xu, Kai Zhang, Haidong Fu, Shunxin Li, Yimin Qiu, Xiaofeng Wang Published by InTech Janeza Trdine 9, 51000 Rijeka, Croatia Copyright © 2012 InTech All chapters are Open Access distributed under the Creative Commons Attribution 3.0 license, which allows users to download, copy and build upon published articles even for commercial purposes, as long as the author and publisher are properly credited, which ensures maximum dissemination and a wider impact of our publications. After this work has been published by InTech, authors have the right to republish it, in whole or part, in any publication of which they are the author, and to make other personal use of the work. Any republication, referencing or personal use of the work must explicitly identify the original source. Notice Statements and opinions expressed in the chapters are these of the individual contributors and not necessarily those of the editors or publisher. No responsibility is accepted for the accuracy of information contained in the published chapters. The publisher assumes no responsibility for any damage or injury to persons or property arising out of the use of any materials, instructions, methods or ideas contained in the book. Publishing Process Manager Oliver Kurelic Typesetting InTech Prepress, Novi Sad Cover InTech Design Team First published September, 2012 Printed in Croatia A free online edition of this book is available at www.intechopen.com Additional hard copies can be obtained from orders@intechopen.com New Approach of Indoor and Outdoor Localization Systems, Edited by Fouzia Boukour Elbahhar and Atika Rivenq p. cm. ISBN 978-953-51-0775-0 Contents Preface IX Section 1 Satellite Systems for Positioning 1 Chapter 1 GNSS in Precision Agricultural Operations 3 Manuel Perez-Ruiz and Shrini K. Upadhyaya Chapter 2 Adjustment Methodology in a Regional Densification of a Terrestrial Reference Frame 27 María Laura Mateo and María Virginia Mackern Chapter 3 GPS and the One-Way Speed of Light 45 Stephan J.G. Gift Section 2 Wireless Sensor Network Localization Techniques 67 Chapter 4 Indoor Positioning System Based on the Ultra Wide Band for Transport Applications 69 F. Elbahhar, B. Fall, A. Rivenq, M. Heddebaut and R. Elassali Chapter 5 Ultra Wide Band Positioning Systems for Advanced Construction Site Management 89 Alberto Giretti, Alessandro Carbonari and Massimo Vaccarini Chapter 6 Capacitive User Tracking Methods for Smart Environments 113 Miika Valtonen and Timo Vuorela Chapter 7 RSSI/DoA Based Positioning Systems for Wireless Sensor Network 139 Stefano Maddio, Alessandro Cidronali and Gianfranco Manes Chapter 8 One Stage Indoor Location Determination Systems 163 Abdullah Al-Ahmadi and Tharek Abd. Rahman VI Contents Section 3 Coupled GPS and Other Sensors 191 Chapter 9 Activity-Artifact Flow of GPS/INS Integration for Positioning Error De-Correlation 193 Xiaoying Kong, Li Liu and Heung-Gyoon Ryu Chapter 10 Inertial Navigation Systems and Its Practical Applications 213 Aleksander Nawrat, Karol Jędrasiak, Krzysztof Daniec and Roman Koteras Chapter 11 The Design and Realization of a Portable Positioning System 241 Xin Xu, Kai Zhang, Haidong Fu, Shunxin Li, Yimin Qiu and Xiaofeng Wang Preface The ability to localise people and assets will be driving not only emerging Localization services, but also mobile advertising, safety and security applications. In fact, location based services are becoming an indispensable part of life. For outdoor application, Global positioning system GPS requires communication with at least four GPS satellites, and offers location accuracy of several meters. It is used mainly for outdoor location-based application, because its accuracy could be degraded significantly in indoor scenarios. In additional, the wide adoption of Global Positioning System in mobile devices, combined with wireless sensor networks has solved many problems of outdoor Localization. However, it concerns only outdoors application. There are numerous areas of ubiquitous computing and application, which require the knowledge of indoors user position. Over the past years, significant effort has been dedicated to the development of indoor Localization systems. The results depend essentially on the environment of the concerning application, the implementation cost and the used technologies. In fact, indoor positioning faces additional difficulties as compared to outdoor positioning. Attenuation and multipath reflections of the line-of-sight (LOS) signal (or direct path) by walls, floors, and ceilings of tunnels are the main factors prohibiting typical GPS receivers to operate in indoor environments. Most of the time, the sum of multipath signals is stronger than the direct path signal, thereby preventing the receiver from accurately calculating the time of arrival. Despite the effort to improve these results, the existing indoor positioning systems present real challenges for the researchers. This book addresses the state of the art technology and the results from cutting edge research for indoor and outdoor Localization applications. In fact, the writing of this book was prompted by the fact that actually many applications require high Localization accuracy for indoor and outdoor environment. X Preface In this book, the chapters are organised in three main topic areas: Section 1: “Satellite Systems for Positioning” consists of chapters which cover whole satellite system (GPS, GNSS) and some applications using this system. It consists of three chapters. The first chapter is related to the satellite Localization system especially The GNSS system. In fact, the authors present some results in terms of precision related the application the GNSS receivers in agricultural applications. The second chapter presents new concepts to calculate the coordinates of GNSS stations, existing in some countries, in the international reference systems using information and applying a methodology of rigorous processing and adjusting. This technique has proved to be advantageous when the objective is to introduce the Reference System simultaneously with the precision and parameters estimation. The last chapter of this section deals with the use of GPS technology in the determination of the one-way speed of light. Section 2: “Wireless Sensor Network Localization Techniques”, is dedicated to the Localization applications using the wireless sensor networks. The section consists of five chapters. The first chapters are related the applications of UWB Localization system especially applied to building construction environments and the transport applications. The third chapter is related to the capacitive transmit-mode measurement methods that can be used to passively track an individual indoors in three dimensions and non- intrusive. The fourth chapter is dedicated to the concepts for an indoor Localization system suitable for a Wireless Sensor Network in a GPS-denied scenario way. The last chapter is dedicated to the off-the-shelf positioning system using IEEE802.11 wireless local area network technology without any additional devices. Section 3: “Coupled GPS and other sensors”, consists of three chapters. The first two chapters present some results for Inertial Navigation System/GPS association and some applications of this coupling. The last chapter discusses some interesting results concerning the development and implementation of a "System On Programmable Chip" SOPC based on portable positioning systems PPS, which is capable of handling the data- fused positioning and can provide user a feasible way to obtain their position anywhere. The editor would like to thank all authors for their contribution, and all those people who directly or indirectly helped make this work. We hope the information included will be useful for Communication & Localization Engineers, Signal Processing Engineers and the academic researchers occupied in the field of indoor and outdoor Localization systems. Fouzia Boukour Elbahhar Chargée de Recherche, IFSTTAR, Institut Français des Sciences et Technologies des Transports, de l'Aménagement et des Réseaux, France Atika Rivenq University of Valenciennes, France . NEW APPROACH OF INDOOR AND OUTDOOR LOCALIZATION SYSTEMS Edited by Fouzia Boukour Elbahhar and Atika Rivenq New Approach of Indoor and Outdoor Localization Systems. GPS constellation as of January 2012 (Source: ftp://tycho.usno.navy.mil/pub/gps/gpsb2.txt) S- Ban d L- Band So l ar panel s New Approach of Indoor and Outdoor Localization Systems 6 3. GLONASS. located at position A New Approach of Indoor and Outdoor Localization Systems 8 are measured. Travel times can be multiplied by the speed of electromagnetic wave (speed of light = 299,729,458