WP5-19 ACO: Difference between revisions
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In WP5 of COMP4DRONES, ACORDE worked to enable a '''robust and enriched communication''' among anchors and among tag and anchors '''on its Indoor Positioning Solution''' [[WP3-15_1]]. | In WP5 of COMP4DRONES, ACORDE worked to enable a '''robust and enriched communication''' among anchors and among tag and anchors '''on its Indoor Positioning Solution''' [[WP3-15_1]]. | ||
'''Robust communication''' among anchors and between the tag and its surrounding anchors is essential. Specially in the latter case, for the tag to compute its position. The obtention of the ranges relies on a Two-Way Ranging (TWR) protocol where up to four short messages need to be exchanged. This causes a traffic that, depending on the medium access control (MAC) protocol, might lead to collisions and loss of messages. For the TWR protocol this is an especially bad scenario, because sending retrials do not only adds latencies, but it also complicates much range estimation | '''Robust communication''' among anchors and between the tag and its surrounding anchors is essential. Specially in the latter case, for the tag to compute its position. The obtention of the ranges relies on a Two-Way Ranging (TWR) protocol where up to four short messages need to be exchanged. This causes a traffic that, depending on the medium access control (MAC) protocol, might lead to collisions and loss of messages. For the TWR protocol this is an especially bad scenario, because sending retrials do not only adds latencies, but it also complicates much range estimation up to the point of disabling it. In C4D, ACORDE has developed and integrated a MAC scheme for robust communication at the tag ranging phase. This is a novel MAC scheme which exploits the described usage scenario, for ensuring robustness and optimizing the amount of anchor ranges that can be safely handled (i.e., deterministically and without collision) at the tag-anchor ranging phase. | ||
'''Enriched communication''' means two things in this context. First, enriched communication stands for the '''ability to augment the information exchanged among anchors and between tag and anchors'''. This enriched information enables the higher layers, namely the location algorithms to make better estimates. For this, ACORDE introduces a specific message extension at the lower implementation levels (MAC, ranging) to enable the exchange of data on error related information, as well as the data on locations and ranges to them (the minimum information for enabling trilateration). This additional information can be exploited (and it is exploited by ACORDE through the positioning algorithms developed in WP4) for improving the accuracy of the position estimation. | '''Enriched communication''' means two things in this context. First, enriched communication stands for the '''ability to augment the information exchanged among anchors and between tag and anchors'''. This enriched information enables the higher layers, namely the location algorithms to make better estimates. For this, ACORDE introduces a specific message extension at the lower implementation levels (MAC, ranging) to enable the exchange of data on error related information, as well as the data on locations and ranges to them (the minimum information for enabling trilateration). This additional information can be exploited (and it is exploited by ACORDE through the positioning algorithms developed in WP4) for improving the accuracy of the position estimation. | ||
Revision as of 12:36, 10 March 2023
Robust communication for an improved Indoor Positioning System
| ID | WP4-19 |
| Contributor | ACORDE |
| Levels | Function |
| Require | Indoor Positioning System anchor and tag platforms WP3-15_1 |
| Provide | Detection of jamming and spoofing events on the raw data GNSS input used for positioning |
| Input | Specific messages from underlying GNSS receivers. |
| Output | Jamming and spoofing detection |
| C4D building block | (see WP3-15_1) |
| TRL | 4 |
| Parent Building block | WP3-15_1 |
| Contact | fernando.herrera at acorde.com |
Description and Benefits
In WP5 of COMP4DRONES, ACORDE worked to enable a robust and enriched communication among anchors and among tag and anchors on its Indoor Positioning Solution WP3-15_1.
Robust communication among anchors and between the tag and its surrounding anchors is essential. Specially in the latter case, for the tag to compute its position. The obtention of the ranges relies on a Two-Way Ranging (TWR) protocol where up to four short messages need to be exchanged. This causes a traffic that, depending on the medium access control (MAC) protocol, might lead to collisions and loss of messages. For the TWR protocol this is an especially bad scenario, because sending retrials do not only adds latencies, but it also complicates much range estimation up to the point of disabling it. In C4D, ACORDE has developed and integrated a MAC scheme for robust communication at the tag ranging phase. This is a novel MAC scheme which exploits the described usage scenario, for ensuring robustness and optimizing the amount of anchor ranges that can be safely handled (i.e., deterministically and without collision) at the tag-anchor ranging phase.
Enriched communication means two things in this context. First, enriched communication stands for the ability to augment the information exchanged among anchors and between tag and anchors. This enriched information enables the higher layers, namely the location algorithms to make better estimates. For this, ACORDE introduces a specific message extension at the lower implementation levels (MAC, ranging) to enable the exchange of data on error related information, as well as the data on locations and ranges to them (the minimum information for enabling trilateration). This additional information can be exploited (and it is exploited by ACORDE through the positioning algorithms developed in WP4) for improving the accuracy of the position estimation. The second meaning of enriched communication refers to the extension of the capabilities at the user-level interface (integrator API), to have access to such an enriched information. This was indeed a requirement from the integrator company in the UC2-Demo2, which desired to make data fusion of the ACORDE UWB-IPS data with other source of data (LIDAR).
How
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Evaluation
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