ALMA MATER STUDIORUM UNIVERSITÀ DI BOLOGNA DOTTORATO IN ELETTRONICA , INFORMATICA E DELLE TELECOMUNICAZIONI Smart Sensors For Interoperable Smart Environment Sara Bartolini COORDINATOR TUTOR Professor Professor PAOLA MELLO TULLIO SALMON CINOTTI PHD. THESIS January, 2007 – December, 2009 DOTTORATO IN ELETTRONICA , INFORMATICA E DELLE TELECOMUNICAZIONI CYCLE XXII – ING-INF/05 2 Smart Sensors For Interoperable Smart Environment 3 Smart Sensors For Interoperable Smart Environment 4 Smart Sensors For Interoperable Smart Environment Keywords Smart Environment Smart Object Human-Machine Interaction Interoperability Sensors 5 Smart Sensors For Interoperable Smart Environment 6 Smart Sensors For Interoperable Smart Environment Table of Contents Figure Index________________________________________________________________________12 Abstract___________________________________________________________________________ 17 Chapter 1 INTRODUCTION___________________________________________________________ 19 1.1Scenario__________________________________________________________________ 20 1.1.1Context Aware Computing____________________________________________ 23 1.1.2Mobile Computing__________________________________________________ 24 1.1.3Context providing Sensors____________________________________________ 24 1.1.4Human-Machine Interfaces____________________________________________25 1.2Research Framework________________________________________________________ 26 1.3Thesis Outline______________________________________________________________29 CHAPTER 2. SMART ENVIRONMENTS________________________________________________31 2.1Smart Environments Background_______________________________________________32 2.1.1Context Managements Systems for Smart Environments____________________ 33 2.1.2Smart Environments Applications______________________________________ 36 2.2New Vision of Smart Environments_____________________________________________38 2.2.1An Application Design_______________________________________________ 39 2.2.2Human Location Application__________________________________________ 42 2.2.3Creation of Smart Environment________________________________________ 46 PART I INTERACTION IN SMART ENVIRONMENTS______________________________49 CHAPTER 3. RELATED WORKS ON INTERACTION_____________________________________51 3.1Natural Interfaces Principles__________________________________________________ 52 3.2 Interaction Paradigms_______________________________________________________ 53 3.3 Interaction Techniques and Technologies________________________________________56 3.3.1 Inertial Sensors in Interaction_________________________________________ 58 3.3.2 RFID in Interaction_________________________________________________59 3.4 Smart Objects in Interaction__________________________________________________ 60 CHAPTER 4. DESIGN OF A SMART OBJECT FOR HUMAN INTERACTION_________________63 4.1 Smart Object for Smart Environments Management_______________________________ 64 4.1.1 Interaction Methods_________________________________________________66 4.2 Design Of Power Supply Sub-System For Smart Object___________________________ 67 4.2.1 Design Principles of Band 1 SOPM___________________________________ 69 7 Smart Sensors For Interoperable Smart Environment PART II SMART SENSORS FOR LOCATION ESTIMATION________________________ 75 CHAPTER 5. PEDESTRIAN POSITIONING SYSTEMS___________________________________ 77 5.1Pedestrian Tracking Technologies_____________________________________________ 78 5.1.1GPS Technologies__________________________________________________ 81 5.1.2Cellular Network Technologies_______________________________________ 82 5.1.3Radio Frequency Technologies_______________________________________ 82 5.1.4Mechanical Technologies____________________________________________ 84 5.1.5Optical Technologies_______________________________________________ 85 5.1.6Ultrasound Technologies____________________________________________ 86 5.1.7Vision Technologies________________________________________________ 86 5.1.8Magnetic Technologies______________________________________________ 87 5.1.9Inertial and Heading Technologies_____________________________________ 87 5.1.10Integrated Technologies____________________________________________ 90 5.2User Positioning Principles__________________________________________________ 91 5.2.1Dead Reckoning Positioning_________________________________________ 92 5.2.2Step Length Estimation_____________________________________________ 94 5.2.3Step Calibration Methods____________________________________________ 96 5.3Multi-Sensor Approach for Pedestrian Positioning________________________________ 97 5.3.1Multi-Sensor Platforms for Pedestrian Navigation________________________ 99 5.4Pedestrian Positioning System Requirements____________________________________ 101 CHAPTER 6. STATIC DIRECTION ESTIMATION USING A ONE AXIS GYROSCOPE AND A_105 TWO AXES ACCELEROMETER 6.1Gyroscopes And Accelerometers Theory_______________________________________ 106 6.2Hardware System Architecture_______________________________________________ 112 6.3Sensor Calibration Procedures________________________________________________119 6.4Data Fusion Algorithms____________________________________________________ 122 CHAPTER 7. STATIC DIRECTION ESTIMATION USING A TWO AXES MAGNETIC _______ 129 SENSOR AND A THREE AXES ACCELEROMETER 7.1Earth’s Magnetic Field Theory and Magnetic Sensors_____________________________130 7.2Hardware System Architecture_______________________________________________135 7.3Sensor Calibration Procedures_______________________________________________ 151 7.4Tilt Compensation Algorithm________________________________________________154 7.4.1Algorithm Exceptions Handling______________________________________ 156 CHAPTER 8. STEP DETECTION ESTIMATION ________________________________________163 8.1Steps Detection Theory and Algorithms________________________________________ 164 8 Smart Sensors For Interoperable Smart Environment 8.2Steps Detection using the Frontal Acceleration___________________________________171 8.3Steps Detection using the Frontal and Vertical Accelerations________________________175 CHAPTER 9. RESULTS_____________________________________________________________179 9.1Direction Estimation Comparison_____________________________________________ 180 9.1.1Straight Walk_____________________________________________________ 180 9.1.1.1Using A One Axis Gyroscope And A Two Axes Accelerometer_____ 180 9.1.1.2Using A Two Axes Magnetic Sensor And A Three Axes Accelerometer__________________________________________________ 181 9.1.1.3Comparison______________________________________________ 181 9.2Steps Detection Comparison_________________________________________________ 182 9.2.1Fixed Number of Steps______________________________________________182 9.2.1.1Using A One Axis Gyroscope And A Two Axes Accelerometer_____ 182 9.2.1.2Using A Two Axes Magnetic Sensor And A Three Axes Accelerometer__________________________________________________ 183 9.2.1.3Comparison_______________________________________________186 9.2.2Fixed Straight Path_________________________________________________187 9.2.2.1Using A One Axis Gyroscope And A Two Axes Accelerometer_____ 187 9.2.2.2Using A Two Axes Magnetic Sensor And A Three Axes Accelerometer__________________________________________________ 188 9.2.2.3Comparison_______________________________________________188 9.2.3Fixed Non-Straight Path_____________________________________________189 9.2.3.1Using A One Axis Gyroscope And A Two Axes Accelerometer_____ 189 9.2.3.2Using A Two Axes Magnetic Sensor And A Three Axes Accelerometer__________________________________________________ 190 9.2.3.3Comparison______________________________________________ 190 9.2.4Female User______________________________________________________ 191 9.3Steps Length______________________________________________________________192 9.3.1.1Using the Frontal Acceleration______________________________________ 192 9.3.1.2Using the Vertical Acceleration_____________________________________ 193 9.3.1.3Comparison1949.4Positioning______________________________________ 195 9.4 Positioning_______________________________________________________________ 195 9.4.1Using A One Axis Gyroscope And A Two Axes Accelerometer_____________ 195 9.4.2Using A Two Axes Magnetic Sensor And A Three Axes Accelerometer_______197 9.4.3Comparison______________________________________________________ 198 CHAPTER 10. CONCLUSIONS______________________________________________________ 199 9 Smart Sensors For Interoperable Smart Environment 9.1Future Developments_______________________________________________________201 PUBLICATIONS__________________________________________________________________ 203 BIBLIOGRAFY____________________________________________________________________204 Appendix A_______________________________________________________________________ 215 Appendix B_______________________________________________________________________ 220 Appendix C_______________________________________________________________________ 223 Appendix D_______________________________________________________________________ 226 Appendix E_______________________________________________________________________ 237 10 Smart Sensors For Interoperable Smart Environment Glossary ADC Analog-Digital Converter DR Dead Reckoning DRU Dead Reckoning Unit HCI Human-Computer Interaction INS Inertial Tracking System EMF Earth’s Magnetic Field EMI Electromagnetic Interference