Indoor Navigation using an android application

1. Indoor Navigation
Android Application
Youssef Swellam | Bassem Noaman | Bassem Salah
Bahaa Mahmoud | Mahmoud Hashim | Bassem Aziz

2. Agenda
• Introduction and
Problem Definition
•Sensors
• Design
•Localization
•Navigation
•Future Additions

4. • Primary references was wall mounted
maps in hospitals malls and museums
• Ground Positioning System (GPS) is not
reliable indoors due to interference
• Research identified some possible
techniques such as Wi-Fi access points
and Bluetooth which are the most
common

5. • After performing localization, navigation
to the desired place is then needed

6. Software and Hardware Used
• JAVA Programming language
• Android open source operating system
• IDE : Eclipse with Android SDK
• Phone : Sony Xperia Z
• TP-Link MR-3420 Wi-Fi Access points

8. Accelerometer

9. Gyroscope

10. Magnetic Sensor

11. Design

12. First Activity

13. After pressing scan and my position

14. Pressing “where to go?”

15. Pressing “getpath”

17. Localization
Wi-Fi Landmarks Database Positioning
AngleDisplacement

18. Localization Techniques
•Sound-based Localization
•Calibration-free Localization
•Time of Arrival
•Triangulation
•Wi-Fi Fingerprinting with Dead
Reckoning

19. Wi-Fi Landmarks
• Six Routers used in six different rooms to
cover the whole area for RSS to be
measured
• Rooms are divided into smaller areas
represented by nodes for referencing
• Corridors are treated as one room with
several node points

20. Database
• Purpose of using it
• SQL Database
 Storing RSS, corresponding
position(x , y) and room name for
each area (10 readings to
minimize error)
 Time Consuming to fill

21. SQLite database methods
• Create
• Open
• Insert
• Search
• Update
• Close
SQLite database methods

22. Example
R1 R2 R3 R4 R5 R6 X Y Room ID
R11 R21 R31 R41 R51 R61 X1 Y1 8310(1)
R12 R22 R32 R42 R52 R62 X2 Y2 8310(1)
R13 R23 R33 R43 R53 R63 X3 Y3 8310(1)
.. .. .. .. .. .. 8310(1)
R110 R210 R310 R410 R510 R610 X10 Y10 8310(1)
R11 R21 R31 R41 R51 R61 X11 Y11 8310(2)
R12 R22 R32 R42 R52 R62 X12 Y12 8310(2)
R13 R23 R33 R43 R53 R63 X13 Y13 8310(2)
.. .. .. .. .. .. 8310(2)
R110 R210 R310 R410 R510 R610 X20 Y20 8310(2)

23. Positioning
• Get current RSS
• Enter database and compare row by row
• Using mean square error to make
localization and get current position of the
user

24. Positioning
• Mean Square error equations for each area
Error1= (R`1- R11)2 +(R`1- R21)2+(R`1- R31)2+…..+(R`1- R101)2
Error2= (R`2- R12)2 +(R`2- R22)2+(R`2- R32)2+…..+(R`2- R102)2
Error3= (R`3- R13)2 +(R`3- R23)2+(R`3- R33)2+…..+(R`3- R103)2
Total1= Error1+ Error2+ Error3+…..+ Error10
• Area with least error is the user’s location

25. Positioning - Displacement
• Displacement obtained from the acceleration
signal by double integration with respect to time
𝑉𝑓 = 𝑉𝑖 + 𝑎 ∗ 𝛥𝑡
𝑑 = 𝑉𝑓 ∗ 𝑎 +
1
2
𝑎 ∗ 𝛥𝑡
• Error handling using Zero Velocity Update
• Velocity is set to zero when the user’s foot is
detected to be stationary

26. Positioning - Displacement
• the application gets the initial time (ti). With the
same procedure when the user stops the final time
(tf)
∆t = tf – ti
D = average velocity * ∆t
X
Y

27. Positioning - Displacement
• Three scenarios were considered
Gait type Average velocity
Walking 0.7 m/s
Jogging 1.0 m/s
Running 1.7 m/s

28. Positioning - Angle
•Initial orientation of the user
is determined by acquiring
the angle with respect to
north by magnetic sensor
with an offset of 100° to
match the map on the
device

29. Positioning - Angle
•The angle of movement of
the user is then acquired
through the Gyroscope to
determine the user’s rotation

30. Positioning
New Position
Xnew = Xold + d*Sin (θ)
Ynew = Yold – d*Cos (θ)
θ

32. Map View
• A canvas is created with the map
bitmap size
• An Arrow is drawn on the map
indicating the user’s position with it’s
tip pointing to the user’s direction in
the building
• The position and orientation of the
arrow changes according to the
accelerometer and the gyroscope

33. Map View

34. Nodes
• Pixels of each
divided area of
the rooms with
the reference
nodes were
obtained
• Pixels of each
room door point
were referenced
as nodes

35. Routing Algorithm
• Numbering of nodes
• Get initial node number (Room or
corridor)
• Final node number is obtained
from the GUI
• Next node number is obtained
by the numbering
• Draw Path between the nodes

38. User Interface
• Pinch to zoom for map
• Automatic Scroll with user mark on map
• Rotating The Map
• Details about desired places
Web Interface
• Download map, ability to provide the user with
suggestions , offers and promotions

39. Productivity
• Web Interface with GPS to
download maps upon
reaching the building
• Different localization algorithm
• Dijkstra navigation algorithm
• Make the app available for
low end devices without a
gyroscope

40. • Wi-Fi Fingerprinting and
building database
• Dead Reckoning after
localization by Wi-Fi
• Navigation by nodes and
numbering algorithm

42. You