2010 7Th Workshop on Positioning Navigation and Communication

2010 7th Workshop on Positioning Navigation and Communication

(WPNC 2010)

11 – 12 March 2010

IEEE Catalog Number: CFP1093B-PRT ISBN: 978-1-4244-7158-4 2010 7th Workshop on Positioning, Navigation and Communication Table of Contents

Session 1 - Communication & Ranging Systems 1. A Packet-Level Adaptive Forward Error Correction Scheme for Wireless Networks...... 1 Johannes Hund, Andreas Heinrich, Andreas Ziller, Christian Schwingenschlögl, Siemens Corporate Technology; Rolf Kraemer, IHP-Microelectronics 2. Joint Channel and Parameter Estimation for Joint Communication and Navigation using Particle Swarm Optimization...... 4 Kathrin Schmeink, Rebecca Block, Christopher Knievel, Peter Adam Hoeher, University of Kiel 3. Maximal Operating Distance Estimation for Ranging in IEEE 802.15.4a Ultra Wideband ...... 10 Thomas Gigl, Graz University of Technology & CISC Semiconductor GmbH; Florian Troesch, ETH Zurich; Josef Preishuber-Pfluegl, CISC Semiconductor GmbH; Klaus Witrisal, Graz University of Technology 4. Optical ranging and data communication in space-based applications ...... 19 Juan Jose Esteban, Antonio Garcia, Johannes Eichholz, Albert-Einstein-Insitute Hannover; Antonio Peinado, Universidad de Granada; Iouri Bykov, Joachim Kulmann, Gerhard Heinzel, Karsten Danzmann, Albert-Einstein-Insitute Hannover 5. Radio Localization in OFDM networks using the “Round Trip Phase”...... 23 Thilo Ohlemueller, Humboldt Universität Berlin & IHP Microelectronics; Frank Winkler, Humboldt University Berlin; Eckhard Grass, IHP Microelectronics 6. UWB Impulse Radio Based Distance Bounding...... 28 Marc Kuhn, Heinrich Luecken, Nils Ole Tippenhauer, ETH Zurich

Session 2 - Mathematical Methods for Localization and Tracking 1. Closed-form Algorithms in Mobile Positioning: Myths and Misconceptions...... 38 Niilo Sirola, Tampere University of Technology 2. Cubature based Kalman Filters for Positioning...... 45 Henri Pesonen, Robert Piché, Tampere University of Technology 3. Gershgorin Discs of Gramian Matrices for Target Tracking ...... 50 Davide Macagnano, Giuseppe Thadeu Freitas de Abreu, University of Oulu 4. Improving Source Localization in NLOS Conditions via Ranging Contraction...... 56 Giuseppe Destino, Giuseppe Thadeu Freitas de Abreu, University of Oulu 5. Localization of Multiple Emitters by Spatial Sparsity Methods in the Presence of Fading Channels...... 62 Joseph S. Picard, Anthony J. Weiss, Tel Aviv University 6. Passive Infrared Localization with a Probability Hypothesis Density Filter...... 68 Jürgen Kemper, Daniel Hauschildt, Technische Universität Dortmund

i Session 3 - Indoor & Fingerprint-based Positioning 1. 3D fingerprint-based Localization for Wireless Sensor Networks ...... 77 Jorge Robles, Martin Deicke, Ralf Lehnert, University of Dresden 2. A Cooperative Framework for Path Loss Calibration and Indoor Mobile Positioning ...86 Francescantonio Della Rosa, Tommi Paakki, Helena Leppäkoski, Jari Nurmi, Tampere University of Technology 3. LOSNUS: Ultrasonic Indoor Locating for Numerous Static and Mobile devices...... 277 Gerhard Spitzer, Herbert F. Schweinzer, Vienna University of Technology 4. On the RBF-based Positioning using WLAN Signal Strength Fingerprints...... 93 Christos Laoudias, Christos Panayiotou, University of Cyprus; Paul Kemppi, VTT Technical Research Centre of Finland 5. Positioning with Coverage Area Estimates Generated from Location Fingerprints ...... 99 Laura Koski, Robert Piché, Ville Kaseva, Simo Ali-Löytty, Marko Hännikäinen, Tampere University of Technology 6. Towards Ubiquitous Indoor Location Based Services and Indoor Navigation ...... 107 Björn Greßmann, Helge Klimek, Volker Turau, Hamburg University of Technology

Session 4 - Navigation and Tracking 1. A Fast Code Acquisition Technique for Positioning Systems ...... 113 Francesco Benedetto, Gaetano Giunta, University of Roma Tre 2. A Hidden Markov Model for Pedestrian Navigation...... 120 Jochen Seitz, Friedrich-Alexander University of Erlangen-Nuremberg; Thorsten Vaupel, Steffen Meyer, Javier Gutiérrez Boronat, Fraunhofer Institute for Integrated Circuits IIS; Jörn Thielecke, Friedrich- Alexander University of Erlangen-Nuremberg 3. Barometric Height Estimation Combined with Map-Matching in a Loosely-Coupled Kalman-Filter ...... 128 Maik Bevermeier, Oliver Walter, Sven Peschke, Reinhold Haeb-Umbach, University of Paderborn 4. Indoor Pedestrian Navigation using an INS/EKF framework for Yaw Drift Reduction and a Foot-mounted IMU...... 135 Antonio R. Jiménez, Fernando Seco Granja, J. C. Pierto, J. Guevara, Institute for Industrial Automation – CSIC 5. Localization in Industrial Halls via Ultra-Wideband Signals ...... 144 Lukasz Zwirello, Malgorzata Janson, Christian Ascher, Ulrich Schwesinger, Gert F. Trommer, Thomas Zwick, Karlsruhe Institute of Technology 6. UWB Positioning with Virtual Anchors and Floor Plan Information...... 150 Paul Meissner, Graz University of Technology; Christoph Steiner, ETH Zurich; Klaus Witrisal, Graz University of Technology

Poster Session 1. A Comparison between Unscented Kalman Filtering and Particle Filtering for RSSI- Based Tracking...... 157 Kung-Chung Lee, Anand Oka, University of British Columbia; Emmanuel Pollakis, Dresden University of Technology; Lutz Lampe, University of British Columbia

ii 2. A Motion Model for Articulated Vehicles and a Distributed Acceleration Measurement System...... 164 Niilo Sirola, Tampere University of Technology; Jarkko Rouhe, Taipale Telematics 3. A New Complex Angle of Arrival Location Method for ad hoc Networks ...... 284 Peter Brida, Juraj Machaj, Jozef Benikovsky, Jan Duha, University of Žilina 4. Carrier Relevance Study for Indoor Localization Using GSM...... 168 Iness Ahriz, Yacine Oussar, ESPCI – ParisTech; Bruce Denby, Université Pierre et Marie Curie and ESPCI – Paristech; Gerard Dreyfus, ESPCI – ParisTech 5. Comparison of various methods for Indoor RF Fingerprinting using leaky feeder cable...... 291 Mark Weber, Ulrich Birkel, University of Applied Sciences Gießen-Friedberg; Ralf Collmann, Julia Engelbrecht, University of Applied Sciences, HTW Dresden 6. Current Investigations at the ETH Zurich in Optical Indoor Positioning...... 174 Sebastian Tilch, Rainer Mautz, ETH Zürich 7. Multi-correlator Structures for Tracking Galileo Signals with CBOC and SinBOC(1,1) Reference Receivers and Limited Front-End Bandwidths...... 179 Jie Zhang, Elena Simona Lohan, Tampere University of Technology 8. Multi-modal Sensor Data and Information Fusion for Localization in Indoor Environments...... 187 Lasse Klingbeil, Richard Reiner, Michailas Romanovas, Martin Traechtler, HSG-IMIT; Yiannos Manoli, University of Freiburg 9. Position Tracking Using Sensor Fusion of a Wireless Network and a Laser Range Finder ...... 193 Christopher Kirsch, Christof Roehrig, University of Applied Sciences and Arts Dortmund 10 Positioning Techniques and Telematic Applications in the 2.4 GHz-Band – Indoor and Outdoor Analysis Results Based on a Commercial Wide Band Location System...... 299 Robert Richter, Oliver Michler, Richard Weber, TU Dresden; Sven Zeisberg, HTW Dresden 11 Self-contained Indoor Pedestrian Navigation by Means of Human Motion Analysis and Magnetic Field Mapping...... 303 Gerald Glanzer, Ulrich Walder, Graz University of Technology

EUWB & WHERE Session 1. A Quantitative Comparison of Multihop Localization Algorithms...... 200 Stefano Severi, University of Bologna; Giuseppe Abreu, University of Oulu; Davide Dardari, University of Bologna 2. Architectures for Location Data Acquisition and Distribution in UWB Indoor Tracking Systems ...... 206 Juan Chóliz, Ángela Hernández, Antonio Valdovinos, University of Zaragoza 3. Centralized Cooperative Positioning and Tracking with Realistic Communications Constraints...... 215 Christian Mensing, German Aerospace Center (DLR); Jimmy Jessen Nielsen, Aalborg University 4. Inter-Cell Interference Coordination and Synchronization based on Location Information...... 224 Loïc Brunel, Mélanie Plainchault, Nicolas Gresset, Mitsubishi Electric R&D Centre Europe; Armin Dammann, Christian Mensing, Ronald Raulefs, German Aerospace Center (DLR)

iii 5. A Link-to-System Level Interface for B3G Scenarios...... 233 Youssef Nasser, Maryline Helard, Institute of Electronics and Telecommunications of Rennes; Valdemar Monteiro, Joaquim Bastos, Jonathan Rodriguez, University of Aveiro; H. El-Mokdad, Lebanese University 6. Policy-dependent multi-hop distances in linear ad hoc networks...... 241 Golaleh Rahmatollahi, Leibniz University of Hannover; Giuseppe Abreu, University of Oulu 7. Positioning in Multiband OFDM UWB utilizing Received Signal Strength...... 308 Andreas Waadt, Shangbo Wang, Christian Kocks, Admir Burnic, Dong Xu, Guido H. Bruck, Peter Jung, University of Duisburg-Essen 8. Real Life Ranging Measurements with Low Power, Low Data Rate Transceivers ...... 247 Manuel Pezzin, CEA-Leti Minatec; Álvaro Álvarez, ACORDE 9. UWB in Heterogeneous Access Networks: location-aware services ...... 257 Pierre Cluzeaud, Isabelle Bucaille, Thales Communications; Ana Sierra, Telefónica I+D; Juan Chóliz, University of Zaragoza 10 Geo-Location Aided Cooperative Communications...... 264 Sudhan Majhi, Youssef Nasser, Jean François Hélard, European University of Brittany; Ronald Raulefs, Armin Dammann, German Aerospace Center (DLR) 11 Concepts and Possibilities of the Positioning Device and Algorithm Evaluation Tool POSE for qualifying the Suitability of Ranging Device/Positioning Algorithm Combinations...... 270 Simona Poilinca, Dan Dragomir, University of Bucharest; Markus Wehner, University of Applied Sciences Dresden; Oliver Michler, TU Dresden; Sven Zeisberg, University of Applied Sciences Dresden