UNIVERSIDAD DE OVIEDO ESCUELA POLITÉCNICA DE INGENIERÍA DE GIJÓN MASTER EN TECNOLOGÍAS DE LA INFORMACIÓN Y COMUNICACIONES EN REDES MÓVILES HYBRID LOCALIZATION ALGORITHM FOR LTE COMBINING SATELLITE AND TERRESTRIAL MEASUREMENTS ALGORITMO HÍBRIDO DE LOCALIZACIÓN PARA LTE COMBINANDO MEDIDAS TERRESTRES Y DE SATÉLITES ADRIÁN CARDALDA GARCÍA JUNIO 2015 UNIVERSIDAD DE OVIEDO ESCUELA POLITÉCNICA DE INGENIERÍA DE GIJÓN MASTER EN TECNOLOGÍAS DE LA INFORMACIÓN Y COMUNICACIONES EN REDES MÓVILES HYBRID LOCALIZATION ALGORITHM FOR LTE COMBINING SATELLITE AND TERRESTRIAL MEASUREMENTS ALGORITMO HÍBRIDO DE LOCALIZACIÓN PARA LTE COMBINANDO MEDIDAS TERRESTRES Y DE SATÉLITES ADRIÁN CARDALDA GARCÍA JUNIO 2015 TUTOR: MANUEL ARREBOLA BAENA Table of contents Table of contentsi List of figures vii List of tables xiii Acronyms and Abbreviations xvii 0 Resumen1 0.1 Introducción . .1 0.1.1 Objetivos . .3 0.2 Desarrollo teórico . .4 0.2.1 GNSS . .4 0.2.2 OTDOA . .6 0.2.3 ECID . .7 0.2.4 Localización Híbrida . .8 0.2.5 Dilución de Precisión . .8 0.2.6 Fuentes de error . 10 0.3 Simulaciones y resultados . 10 i TABLE OF CONTENTS 0.3.1 OTDOA . 11 0.3.2 OTDOA y ECID . 15 0.3.3 Posicionamiento Híbrido . 16 0.3.4 Localización en interiores . 20 0.4 Conclusiones . 21 0.5 Trabajos Futuros . 22 0.5.1 Análisis exhaustivo del canal OTDOA . 23 0.5.2 WiFi, Bluetooth y otras tecnologías . 23 1 Introduction 25 1.1 Motivation . 27 1.2 Problem Statement . 31 1.3 Objectives . 32 2 Theoretical Background 34 2.1 Position calculation methods . 34 2.1.1 Triangulation . 34 2.1.2 Trilateration . 36 2.1.3 Multilateration . 37 2.2 GNSS . 41 2.2.1 Brief history of GNSS . 42 2.2.2 A-GNSS . 43 2.2.3 Mathematical derivation . 44 ii TABLE OF CONTENTS 2.2.4 Dilution of Precision . 48 2.2.5 Sources of error of GNSS . 50 2.2.6 A-GNSS accuracy measurements . 51 2.2.7 Weighted Least Squares . 55 2.3 OTDOA . 57 2.3.1 Brief history of hyperbolic localization . 57 2.3.2 Description . 58 2.3.3 Sources of error of OTDOA . 60 2.3.4 OTDOA measurement accuracy . 62 2.4 ECID . 64 2.4.1 Description . 64 2.5 Comparison . 65 3 Algorithm Derivation 67 3.1 OTDOA Positioning . 67 3.1.1 Dilution of Precision . 72 3.1.2 WLS algorithm for OTDOA . 78 3.1.3 Analysis of the error sources . 79 3.2 ECID Positioning . 84 3.2.1 Mathematical Derivation . 85 3.2.2 Dilution of Precision . 87 3.2.3 WLS for ECID . 87 3.3 LBS Hybrid Positioning . 88 iii TABLE OF CONTENTS 3.3.1 Hybrid Mathematical derivation . 88 3.3.2 WLS algorithm for hybrid . 92 3.3.3 Hybrid DOP . 93 3.3.4 The Earth surface as equation . 94 3.3.5 RAIM enhancements for Hybrid . 94 3.3.6 LBS Hybrid and Indoor scenarios . 96 4 Simulation Results 102 4.1 OTDOA Positioning . 102 4.1.1 Base station constellations . 102 4.1.2 Proof of concept under ideal conditions . 104 4.1.3 Algorithm performance under non-ideal RSTD measurements . 106 4.1.4 Relation between the calculated position error and the RSTD uncertainty . 110 4.1.5 Analysis of base station’s asynchronism . 111 4.1.6 Analysis of Base Stations coordinates error . 114 4.1.7 Performance of OTDOA positioning with random mobile device locations . 117 4.1.8 Performance of the algorithm for different base stations’ geometries123 4.1.9 Summary of the OTDOA simulation results . 132 4.2 OTDOA and ECID Hybrid Positioning . 133 4.2.1 Performance of the algorithm for different base stations’ geometries134 4.2.2 Summary of the results for Hybrid OTDOA + ECID positioning 146 4.3 OTDOA and ECID indoors with small cells . 146 iv TABLE OF CONTENTS 4.4 LBS Hybrid Positioning . 149 4.4.1 LBS GNSS and hybrid positioning with good DOP conditions . 150 4.4.2 LBS GNSS and hybrid positioning with bad satellite DOP . 152 4.4.3 LBS Hybrid positioning with few satellites . 154 4.4.4 LBS Hybrid positioning indoor with pico cell deployment . 156 4.4.5 Summary of the results for LBS Hybrid positioning . 156 4.5 LTE Positioning Protocol extensions . 157 4.5.1 Indoor positioning with small cells without GNSS . 158 4.5.2 Indoor positioning with small cells with two satellites . 159 5 Test System Results 160 5.1 Description of the testing environment . 160 5.1.1 Test System . 160 5.1.2 Mobile Devices . 161 5.1.3 Test Procedure . 161 5.2 OTDOA Positioning . 162 5.2.1 Configuration . 162 5.2.2 Results with ideal base station synchronization . 165 5.2.3 Results with base station synchronization errors . 167 5.3 Hybrid Positioning . 171 5.3.1 Comparison between Hybrid and pure GNSS with bad satellite DOP................................. 171 5.3.2 LBS Hybrid against base station sync error . 172 v TABLE OF CONTENTS 5.3.3 LBS Hybrid with just two satellites . 175 5.3.4 LBS Hybrid algorithm with fading . 177 6 Conclusions 180 6.1 Conclusions . 180 6.2 Future works . 182 6.2.1 Deep analysis of the OTDOA channel . 182 6.2.2 WLAN, bluetooth and other technologies . 182 Bibliography 184 vi List of figures 1 Dilución de Precisión . .9 2 Error en la posición calculada (2D) en función de la varianza del error en la medida RSTD. 12 3 Diferentes constelaciones y su distribución de DOP. 13 4 Resultados de posicionamiento OTDOA sin error de sincronización entre estaciones base. 14 5 Diferentes constelaciones y su distribución de DOP para OTDOA + ECID. 15 6 Comparación entre GNSS y Localización Híbrida. 17 7 Posicionamiento Híbrido con dos satélites. 19 8 Localización Híbrida con propagación multicamino. 20 1.1 Mobile phone subscriptions per 1000 people. 26 1.2 Number of visible GPS satellites in a city centre. 28 2.1 Triangulation . 35 2.2 Circumference and sphere . 36 2.3 Trilateration . 37 p 2.4 Example of a hyperbola with a = b = 10................. 38 vii LIST OF FIGURES 2.5 Example of a two-sheets hyperboloid. 39 2.6 Localization hyperbola in function of the time delay measurement. 40 2.7 Example of 2-D hyperbolic location or multilateration . 41 2.8 Dilution of Precision . 49 2.9 Multipath effect . 52 2.10 Definition of accuracy and precision . 53 2.11 OTDOA RSTD measurement . 59 2.12 ECID RxTx measurement . 65 3.1 Dilution of Precision for OTDOA . 73 3.2 OTDOA 3D measurements in a high GDOP scenario. 75 3.3 Horizontal and vertical sections of the OTDOA measurements . 76 3.4 Comparison of the DOP values for different base station constellations . 76 3.5 DOP values for the honeycomb distribution with seven base stations. 77 3.6 Analysis of the base station synchronization uncertainty for OTDOA . 80 3.7 Position error induced by base station synchronization error for OTDOA 81 3.8 Position error induced by base station sync. error for OTDOA II . 83 3.9 Measurement error induced by an error in the transmitter antenna co- ordinates. 84 3.10 Indoor Scenario with three satellites from the same sky region . 96 3.11 Terrestrial location in building with multiple floors: no altitude diversity 97 3.12 Terrestrial location in building with multiple floors: altitude diversity between eNBs . ..