Positioning Kit-BHB-en - dresden elektronik ingenieurtechnik GmbH
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1. Execute install jar from the CD ROM with admin rights cd media cd sudo java jar install Jjar www dresden elektronik de Page 4 of 14 User Manual Version 1 0 deRFevaluationKit Positioning 2 4 GHz e 2013 03 01 Follow the instructions of the installer The software can be launched by executing positioning sh within the installation path and with admin rights sudo positioning sh To uninstall the software execute uninstall sh in the installation folder Uninstall the old software version before installing a new one 3 Hardware preparation For the first time use the type of the devices must be configured Set the type of the node with a jumper on PORTF as described in Figure 1 and Table 1 Configure four devices as anchors one as coordinator attach jumper on PORTF in upper position and one as mobile node jumper on PORTF in the second row below coordinator position Assemble the device as shown in Figure 2 Power the devices by inserting the batteries and switch them on The LEDs D1 D2 and D3 should blink insert correctly 47 1 Do not recharge Aul Livi Respecter es PUidi idl OI ty i WICULI aUIidULdl es polar No pas recharger Non ricaricare PORTF OFF Jumper position Power coordinator gt switch mobile gt ON USARTDO D3 D2 D1 RST button Figure 1 Hardware configuration Mobile node Table 1 Jumper settings to configure the hardware www dresden elektronik de Page 5 of 14 User Ma2. e 8 EE 13 SN IC 13 8 2 1 Kalman Constant Position Chi 13 8 2 2 Kalman Constant Velocity CH 13 8 2 3 Interacting Multi Model MM 13 8 2 4 Interacting Multi Model Smoother MM 13 8 2 5 Multi Modelf Filter using inertial sensor MMI 0n00nannannnnannannnnnnnnnnnnnnnn 13 8 2 6 Particle Filter DE 13 8 2 7 Rao Blackwellized Particle Filter RBE 13 www dresden elektronik de Page 2 of 14 User Manual Version 1 0 deRFevaluationKit Positioning 2 4 GHz 2013 03 01 Document history po version Despo www dresden elektronik de Page 3 of 14 User Manual Version 1 0 deRFevaluationKit Positioning 2 4 GHz e 2013 03 01 1 Overview The kit is an evaluation platform for the innovative energy efficient Real Time Locating System eeRTLS developed by ZIGPOS based on Atmel s ranging technology It contains six radio modules from dresden elektronik Four devices are used as fixed anchors with known position One device is used as mobile node and the last one is connected to a PC The also included software tool with an intuitive user interface provides comprehensive monitoring control and commissioning capabilities to easily setup dedicated test scenarios 2 Software setup The Positioning Kit application can be installed on Windows and Linux operating systems Officially supported are Windows 7 and Ubuntu Linux 12 04 Initial versions for both operating systems are provided on the CD ROM
3. contained in the evaluation kit 2 1 Download The newest software version can be downloaded at www zigpos com positioning H requested enter the validation key from the separate sheet that can be found within the kit 2 2 Installation on Windows Before installing the Positioning Kit application be sure there is a recent Java 7 Runtime Environment installed To check if Java is installed and to determine the version open the console and enter java version The recent version of Java can be obtained from www java com download Plug the USB level shifter via USB to the PC and follow the driver installation dialog from windows If the driver installation does not start automatically open the Windows device manager and select the driver from the CD ROM Execute install exe from the CD ROM and follow the instructions to install the application To launch the application double click on the desktop or quick start icon To uninstall the software click on uninstall exe in the installation folder Uninstall the old software version before installing a new one 2 3 Installation on Ubuntu Linux Before installing the Positioning Kit application be sure there is a recent Java 7 Runtime Environment installed To check if Java is installed and to determine the version open the console and enter sudo java version The Java runtime can be installed from the packages on the command line by executing sudo apt get install openjdk 7 jre
4. distances to a single value and a quality factor If this box is enabled one gets all values without optimization e PMU compression The values determined by the Phase measurement unit will be compressed before transmission e Diversity Activate or deactivate Antenna diversity If activated each antenna will be used to perform a distance measurement If deactivated just one of both antennas will perform a distance measurement e Choose antenna If diversity is deactivated this box sets the current antenna that will be used e Start frequency This is the starting frequency of the band that will be used to perform a phase measurement this value can range from 2403 MHz up to 2483 MHz e Steps The phase measurements will calculate phases on different steps starting from the Start frequency value steps are 0 5 MHz 1 MHz 2 MHz or 4 MHz e Stop frequency This is the stop frequency of the band that will be used to perform a phase measurement this value can range from 2403 MHz up to 2483 MHz and has to be greater than the start value otherwise the measurements will not perform e Range partner Defines the area of range partners that has to be involved in a positioning request The values define the minimum and maximum number of range partners that will be used to perform a positioning e Minimal dBm Set the minimum of the received signal strength that will be accepted to range with another device 0 means accept every request Values un
5. dresden elektronik e User Manual deRFevaluationKit Positioning 2 4 GHz powered by Document version V1 0 2013 03 01 ZiIGF0S User Manual Version 1 0 deRFevaluationKit Positioning 2 4 GHz 2013 03 01 Table of contents EENEG 4 2 Software setup cece cece eecceeceeceeteeeeeeeeeeeeseesuecseceeceeesecseeseceeeeeesseteeeeseeseeeeeeeeseeseeteeeaees 4 KS E Rei LE 4 2 2 Installation on Ke ele Saisie tease cbs ta cee ceed eee sede tasers dees a 4 E On EE dei onm UbUMU LINUX EE 4 3 Hardware Dreparaton 5 d Flashing NEW Trmmware cc ccc cece cece eee eece eee eeceeeeeeceeeeeeceeeseeceeeeeeseesaeeseeceeseeseeeseeseeeaeeees 6 De EE T Ske On El LEE 8 ECK e Le e E 8 95 3 Node tree panels cavocsescananwneneviona vandslonnvients yosisnaaeloneniedvlonseundlonwnendvnnavaindhlonuiventsnesivtisihlonsieecdixs 8 5 4 Tab panel General 8 29 Tab panel Localiza E 8 Oe POPNE COIN e E 9 CREE INS eaten ats se A seine EE E E A AA E E EA E A E E 9 Oi GENA E 9 O2 DACRON EE 10 6 3 Localization SEUNG E 10 6 4 Positioning AIGOLITAMS cece cece cece eee eee eee eeeeeeeeeeeseeseeseeeeeeeeeeeeaeeseeseeseeeeeeges 10 Ss S ee ee ee T E E E 11 eh PAT O ee 11 T Getting starte 12 Os MO SIU EE 12 3 ai E le 6 1 6 oe ee er a ee eee 12 8 1 1 Multidimensional Scaling MI 12 8 1 2 Iterative Multidimensional Scaling MI 12 8 1 3 Least Median Squares MES 12 o ers E Sa P e ME 13 ora Fes eee
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7. e note that the resolution of single backgrounds has a big influence on the algorithms to calculate a mobile node position It is recommended to use a picture with minimum scale of 0 05 m px A background can be removed with the Delete background button 6 3 Localization Settings The localization settings are only visible in non expert mode and designed for non experts They provide an intuitive slider to tune the algorithm parameters The algorithm can be either faster or more accurate In addition you can choose if a filter should be used to harmonize single positions to a real time tracking Therefore it has to be defined if the position should be calculated only inside the anchor area or outside as well The application will then automatically choose an algorithm based on the user preferences For simulation purposes one can set a small amount of parameters as well The user is able to choose the direction and amount of offset that will be added to perfect distances 6 4 Positioning algorithms The positioning algorithms menu is only visible in expert mode Here you can choose between the positioning algorithms MDS IMDS LMS ZIGPOS_ Plain and ZIGPOS_3D and configure the specific algorithm values More details about the algorithms are described in Section 8 1 www dresden elektronik de Page 10 of 14 User Manual Version 1 0 deRFevaluationKit Positioning 2 4 GHz e 2013 03 01 Next to the position algorithms choose the val
8. essages or errors 6 Settings Figure 5 shows the Settings menu where the general program behavior the background image and location settings can be configured The appearance of the menu differs depending on whether the Expert Mode is enabled or not settings REN _ General Background Localization Settings _ Language english Change Search for updates at startup kal Auto reconnect to serial interface on startup Expert mode Flash new firmware Figure 5 Settings menu standard mode 6 1 General In the General settings menu the language can be changed Therefore every available language is shown in the box Choose your preferred language and press the Change button next to it The program automatically searches for available updates at startup and will give information by the visibility of the update button in the toolbar To deactivate this function disable the related check box The Auto reconnect functionality for the serial interface can be enabled or disabled If this function is enabled the application tries to connect to the coordinator at start up given the last serial port that has been used with this application Change this port via the Connection menu The Expert mode can be activated via a check box A deactivated box will result in a reduced Settings tab see Section 6 3 that allows t
9. he Institute of Electrical and Electronics Engineers IEEE e Atmel and Atmel logo are registered trademarks or trademarks of Atmel Corporation or its subsidiaries e Windows and others are registered trademarks or trademarks of Microsoft Corporation in U S and or other countries All trademarks are registered by their respective owners in certain countries only Other brands and their products are trademarks or registered trademarks of their respective holders and should be noted as such Disclaimer This note is provided as is and is subject to change without notice Except to the extent prohibited by law dresden elektronik ingenieurtechnik gmbh makes no express or implied warranty of any kind with regard to this guide and specifically disclaims the implied warranties and conditions of merchantability and fitness for a particular purpose dresden elektronik ingenieurtechnik gmbh shall not be liable for any errors or incidental or consequential damage in connection with the furnishing performance or use of this guide No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or any means electronic or mechanical including photocopying and recording for any purpose other than the purchasers personal use without the written permission of dresden elektronik ingenieurtechnik gmbh Copyright 2013 dresden elektronik ingenieurtechnik gmbh All rights reserved www dresden elektronik de Pag
10. he user to setup positioning parameters intuitively If the expert mode is activated three different tabs appear instead to setup all parameters manually see Figure 6 The last function in this tab gives access to the firmware update Start the bootloader tool using the Flash new firmware button Refer to Section 4 for details www dresden elektronik de Page 9 of 14 User Manual Version 1 0 deRFevaluationKit Positioning 2 4 GHz 2013 03 01 Settings General Background Positioning algorithms Filter Parameter Language english we Change Search for updates at startup Auto reconnect to serial interface on startup Expert mode Flash new firmware Figure 6 Settings menu expert mode 6 2 Background The Background settings menu enables user defined maps and ground plans To switch between backgrounds another background has to be selected and confirmed by pressing the Save or OK button To create a new background type a new name select a PNG or JPEG image from the file system and specify the height and the length representation of the image in meters Press Create new background to add a new background to the list The meter per pixel scaling can also be changed within the localization view by drawing a line and setting the length of the line in meters Therefore do a right click within the localization view and select Set map scaling Pleas
11. ilable Click the Update Software update icon to reach the update website with your default browser Table 3 Tool bar icons 5 3 Node tree panel The node tree panel gives an overview of the connected radio modules The devices can be placed on the localization view via drag and drop The selected device in the tree view is also highlighted in the localization view A right click on a node shows device specific options and information 5 4 Tab panel General The General tab panel shows a welcome screen and the used communication channel if connected In addition the PAN ID used for IEEE 802 15 4 communication is visualized 5 5 Tab panel Localization The Localization tab is the main view of the application It shows a map and or a grid where the current position of the mobile node is monitored The background and the scaling can be configured in the Settings menu Inside this view you can set different preferences of the map like changing the grid resolution or visualize different parameters in real time node positions distances filtered positions etc www dresden elektronik de Page 8 of 14 User Manual Version 1 0 deRFevaluationKit Positioning 2 4 GHz e 2013 03 01 5 6 Tab panel Logging The Logging tab shows information about incoming packets on the left distance and positioning information on the right and errors and other messages at the bottom It can be used for debugging purposes and will show any m
12. ioning This section gives a brief description of the implemented algorithms and filters to evaluate the technology Each algorithm is independent and can be combined with each filter 8 1 Algorithms The positioning algorithms are used for calculating a position out of the measured distances between the ranging nodes 8 1 1 Multidimensional Scaling MDS The MDS algorithm needs the distances between all radio modules to calculate the position of a mobile device The distances between the anchors will be calculated based on their known position in the map The result is a Matrix with Coordinates of each device This Matrix will then be scaled rotated and shifted based on the original coordinates of the Anchors 8 1 2 Iterative Multidimensional Scaling IMDS The IMDS is an iterative extension of the MDS to handle incomplete distance matrices The distance estimation gets more accurate for each iteration step The parameter defines a canceling criterion which is compared to the changing of the last two iteration steps The algorithm stops if the changing between the last two iteration steps is too small 8 1 3 Least Median Squares LMS This algorithm uses different distance matrices calculates residua of all anchors and searches the median If all anchor combinations have been tested the least median will be used on the network for calculating the position of the mobile node www dresden elektronik de Page 12 of 14 User Ma
13. nual Version 1 0 deRFevaluationKit Positioning 2 4 GHz e 2013 03 01 Figure 2 Assembled device 4 Flashing new firmware New firmware versions can be downloaded from www zigpos com positioning In order to flash the firmware the device must be powered and connected to the PC Use the USB level shifter and connect the device via USARTDO to the USB port of the PC Start the software application open the settings menu and click the Flash new firmware button inside the General tab The following window should appear ZlobOS Firmware Update Tool v1 0 Xy You are flashing new firmeware Misuse can cause damages Serial interface COM14 chose ZPF File firmware zpf Progress Begin update Figure 3 ZIGPOS Firmware Update Tool First select the correct serial interface and connect it to the device Select the appropriate ZPF file and click the Begin update button To start the update press the RST button on the device The progress bar visualizes the update process Flash all devices in the same way To restore the device delivery condition use the firmware file provided on the CD ROM included in the kit www dresden elektronik de Page 6 of 14 User Manual Version 1 0 deRFevaluationKit Positioning 2 4 GHz 2013 03 01 5 User interface Figure 4 shows the user interface of the application Placed on top is the menu bar The tool bar below provides direct access to the most important func
14. nual Version 1 0 deRFevaluationKit Positioning 2 4 GHz e 2013 03 01 8 1 4 ZIGPOS_Plain This algorithm is an improvement of the MDS algorithm from ZIGPOS to increase the accuracy It is directly made to perform inside the virtual area of the anchors and can be used in 2D and 3D scenarios Therefore the positions of all anchors have to be at the corner of the available area e g in the corners of a room or defined area 8 1 5 ZIGPOS 3D This algorithm is an improvement of the MDS algorithm from ZIGPOS to increase the accuracy of the position inside and outside of the anchor area It can only be used in 3D which means the anchors should be placed in different height levels to increase the accuracy 8 2 Filters The noise of the calculated positions can be reduced by using filters which are estimating the state and behavior of the mobile device 8 2 1 Kalman Constant Position CP The Kalman Constant Position filter expects a static nonmoving object It is used to give high accurate position after evaluating various position coordinates and is very slow for tracking objects This filter should be used only in static scenarios 8 2 2 Kalman Constant Velocity CV The Kalman Constant Position filter expects a moving object with a constant velocity This filter performs dynamically changes of moving objects and should be used in case of moving objects 8 2 3 Interacting Multi Model IMM The Interacting Multi Model filte
15. r combines different moving models This enables a more dynamic behavior and can be used for static and moving objects 8 2 4 Interacting Multi Model Smoother IMMS The interacting Multi Model Smoother filter is an extension of the IMM filter This filter allows a smooth shifting between different moving models when the moving state changes This filter is useful if the moving state changes frequently 8 2 5 Multi Model Filter using inertial sensor MMI This filter uses values from given inertial sensors of mobile devices to switch between static and dynamic filters This filter is not available in this version as the hardware has no inertial sensors that can be used to detect accelerometer values or movements 8 2 6 Particle Filter PF The Particle Filter is used for strong non linear behavior and for non normally distributed signal noise This filter is an alternative approach using particle likelinoods 8 2 7 Rao Blackwellized Particle Filter RBPF The Rao Blackwellized Particle Filter is combination out of Kalman and Particle filter www dresden elektronik de Page 13 of 14 User Manual Version 1 0 deRFevaluationKit Positioning 2 4 GHz e 2013 03 01 dresden elektronik ingenieurtechnik gmbh Enno Heidebroek Stra e 12 01237 Dresden GERMANY Phone 49 351 31850 0 Fax 49 351 31850 10 Email wireless dresden elektronik de poskit zigpos com Trademarks and acknowledgements e 802 15 4 is a trademark of t
16. til 100 dBm are accepted www dresden elektronik de Page 11 of 14 User Manual Version 1 0 deRFevaluationKit Positioning 2 4 GHz e 2013 03 01 7 Getting started Connect the coordinator device via the USB level shifter on header USARTDO to the PC and establish a serial connection Therefore click this button ER Switch all devices on To change the background image go to the background tab in the settings menu 4s Select a background and set the height and the width of the background image in meters The meter per pixel scaling can also be changed within the localization view by drawing a line and setting the length of the line in meters Therefore do a right click within the localization view and select set map scaling Place the devices via drag and drop from the tree panel on the map Press the start stop positioning button t to start and stop the positioning application When the positioning is running LED D3 should blink on the mobile node and LED D2 should blink on the anchor nodes after each ranging LED D1 on the coordinator blinks when data is received A right click on the nodes gives you further information about the device The option detect device lets the LEDs of the selected device blink to identify the module The option show distance visualizes the distances between the radio devices as black and red lines whereas red lines are signaling a potentially too long distance 8 Posit
17. tions and menus The tree view on the left window panel shows an overview of the connected radio modules The tab view the right hand side provides three tabs A tab with general information a tab containing the localization map and another tab containing logging information File Settings View Help Coordinator a e Anchor 1 lt a is ali lial Se Mobile Pe ae E SF EES A Anchor4 INFO X 19 89m 6 82m Figure 4 User interface www dresden elektronik de Page 7 of 14 User Manual Version 1 0 deRFevaluationKit Positioning 2 4 GHz e 2013 03 01 5 1 Menu bar The menu bar provides the following drop down menus Drop down entry End closes the program Settings Connection shows a menu to configure the serial connection to the coordinator Simulation starts positioning simulation Settings show the settings menu Change visibility of tab views and toolbar About shows manufacturer information Table 2 Menu bar 5 2 Toolbar The following table gives a description of the tool bar icons Description Shows a menu to configure start and stop the serial Connection connection to the coordinator Settings Shows the settings menu Asks the network for new devices and refreshes the node Ae Refresh network Var tree panel Fa Start Stop Starts and Stops the Positioning application swil Sa positioning a If the icon is visible software updates are ava
18. ues that will be used to calculate a node position based on measured distances Positions can be calculated either in 2D or in 3D The used distances can be directly used or chosen to take averaged distances from the past Therefore different options are available 6 5 Filter The Filter menu enables the user to increase the positioning accuracy by using a tracking filter More details about the different filters are explained in Section 8 2 6 6 Parameter The Parameter menu gives direct access to the hardware parameters of the radio modules The focus of these values is the evaluation of the new phase measurement technology provided by Atmel Different options are available to increase the accuracy or the time beginning from single options that can be activated deactivated up to values that can be inserted to define the frequency range of single measurements Subsequently each parameter is briefly described e State check box Change the current state of the network between sleep active and range period For changing the mode between active and range there is a shortcut in the toolbar Start Stop Measurements e Sleeping period Sets the time of the sleeping period that is inactive time no device will be available during it after the status has been set to sleep e ED scan An energy detection is performed during the measurements e Distance array diversity If diversity is used the algorithms themselves optimize all measured
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