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Peter Thornycroft
March 2015
#ATM15 | @ArubaNetworks
Agenda
• General location requirements • Twists and practical considerations
– Users of location data – iBeacons
– Client-side vs Network-side – Hyperbolic techniques
– Sleeping clients
• Technologies for raw data – Scrambled MAC addresses
– Wi-Fi Signal Strength
• Calculating location
– Wi-Fi Time of Flight / Time Difference of Arrival
– Triangulation on RSSI
– Wi-Fi Direction / Angle of Arrival
– Ray-tracing models
– Bluetooth Low Energy
– GPS – Fingerprinting
– Inertial sensors – Crowd-sourcing
– Synthetic heat maps
– Neural networks
#ATM15 | @ArubaNetworks 2 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
General location requirements
Accuracy: Cost/complexity
1. For bake-offs, PoC, beat competition to 1. Minimize extra hardware requirements (sales/capex):
sub-metre new hardware or more APs
2. For client-side navigation, 2m accuracy, 2. Software upgrade to ‘legacy’ hardware
real-time 3. Minimize extra installation/calibration requirements
3. For analytics, avg 5m accuracy, not real- (sales/professional services)
time 4. Minimize ongoing professional services requirements
4. Everyone’s goal: sub-metre accuracy, real-
time
Serve all client stances
Serve all client populations 1. Un-associated devices under WLAN coverage
1. iPhones/iPads: minimal scanning, no onboard 2. Associated devices
scan data, reasonable BLE support 3. Associated and with our app running
2. Android: better characteristics, especially with
an app
3. PCs: most amenable, but least important Performance considerations
4. IoT/M2M devices: not significant yet but 1. Minimize extra battery draw
emerging 2. Minimize frames on the air (congestion)
#ATM15 | 3 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Uses for location information
Tell the client where it is (how?)
– 802.11k
– http?
Frames of reference
– Local (floorplan xy) (needs the floorplan data for context)
– Global (Lat/Long… GPS)
Tell the network admin where clients are/were
Context:
– Provide information on nearby objects & services
– Navigation
– Tell clients where other clients/mobile objects are
Provide northbound API for analytics tools (location is part of the information set)
#ATM15 | 4 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Client-side vs Network-side
Client-side: Network-side:
Navigation Analytics
Customer engagement “How many people
Location visited my store?”
engine
“What kind of
people and what
were they doing?”
“Am I in
Kansas?”
“What’s
around me?”
Very fast calculation High volume
Very accurate Slower calculation
Needs a map & AP locations Map & AP locations are known
#ATM15 | 5 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Own-app combines the models
Client-side:
Sense & calculate location
Provide consumer services (navigation)
Report context to cloud service
#ATM15 | 6 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Aruba’s location architecture (roughly)
Third-party integration with Analytic Partner provides data Meridian provides integration
customer database, ad analysis and integration with customer with ad networks and coupon
networks and coupon engines database and other data sources engines
Meridian Service
Custom service Analytic engine
Custom software
takes location & ALE App uses Meridian
context directly from SDK for location &
AirWave AirWave location context (or
ALE and feeds client
app on device Controller Controller turnkey app from
Meridian)
#ATM15 | 7 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Over-the-top location
Google Maps
“Internet”
Cellular data Wi-Fi
Bluetooth GPS
LE beacons satellites
#ATM15 | 8 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Target population
Un-associated: Associated: Associated with our app:
Track for analytics Limited interaction Full interaction
Infrequent probe requests Report true MAC address Full platform-infra interaction
Scrambled MACs Monitor traffic Advertising
Limited push capability Navigation
#ATM15 | 9 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Distance vs Location, frames of reference
x
Location
(45, 76) Local coordinates
Location 12.2 9.7 Easy
(32, 78)
Private
y
11.5
4.4
longitude
Location Location
(37, 98) (48, 99) Global coordinates
Tricky to fix
Clients range relative to APs/beacons Universal
But how does that relate to ‘location’? Arbitrary accuracy
- Requires knowledge of AP locations
- Requires a map with frame of latitude
reference
#ATM15 | 10 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
The general RSSI location problem
AP 13 AP 11
Given a “training” set of
data showing expected -46
RSSI at a set of APs from -70
test targets with given tx -51
pwr at a given location, -43
#ATM15 | 11 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
The general RSSI location problem
Location {!∗,"#∗} or X*
AP3 AP4
given ["$%%&1,"$%%&2,"$%%&3,"$%%&4"] or Y
#ATM15 | 12 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Technologies
#ATM15 | @ArubaNetworks 13 13
Wi-Fi RSSI: signal attenuates with distance (etc)
5m indoors
10 dB
Signal strength (dB scale)
wall
100m 50m
‘free space’ ‘wooded region’
100m 6 dB
‘free space’ wall
5m indoors
transmitter receiver
Distance
#ATM15 | 14 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Wi-Fi RSSI variation with distance
Free Space Path Loss dB =20"'()10(+)+20'()10(-)−20'()10(4π/0 )
Path loss in dB / m for 2450 kHz and 5500 kHz Path loss in dB / m for 2450 kHz and 5500 kHz
0 5 10 15 20 25 30 35 40 1 10
40.0 40.0
2450 kHz 2450 kHz
45.0 45.0
50.0 5500 kHz 50.0 5500 kHz
55.0 55.0
60.0 60.0
65.0 65.0
70.0 70.0
75.0 75.0
80.0 80.0
85.0 85.0
#ATM15 | 15 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Wi-Fi RSSI variation with distance
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Wi-Fi RSSI: offices are not free-space
Free Space Path Loss dB =2"'()10(+)+20'()10(-)−20'()10(4π/0 )
Power level with distance, for different exponents n Power level with distance, for different exponents n
-40 -40
-50 -50
-60 -60
Path loss (dB)
N = 20 N = 20
Path loss exponent for free space, n = 2.0 In an office environment, n varies from ~ 2.4 to 3.4.
#ATM15 | 17 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Wi-Fi RSSI RSSI empirical data
Easy to measure vs Very noisy (inaccurate)
averages well Varies over time
Varies with environment
RSSI depends on tx power and antenna directionality
20.0
10.0
0.0
0 5 10 15 20 25 30 35
Distance from AP (meters)
#ATM15 | 19 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Measuring different frames for RSSI
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Measuring RSSI walk-around test
Access point
monitored
75
Route followed
through the
D building
E
AL40
100 C 42
Time and
distance on route
F (at 1m/s)
G 20
130 B 20
Scale 10m
148 H
Finish Start
168 A 0
#ATM15 | 21 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Actual RSSI readings from walk-around test
#ATM15 | 22 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Angle of Arrival
δ1
δ1
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AoA calibrating azimuth & fingerprinting
#ATM15 | 24 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
GPS
“Why can’t
Wi-Fi be more
like GPS?
#ATM15 | 25 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Time-based measurements
RTT “Round-Trip-Time” Implementation
Accuracy should be 1 – 5 metres, t1 t2 In mobile device Wi-Fi chips late
depending on the number of frames 2014 (Android 5.0 ‘private API’)
averaged & underlying hardware
t3 t4 In access points 2015
Most useful in line-of-sight, but better
accuracy at longer distances than No Wi-Fi Alliance certification
RSSI Expected accuracy (LOS) vs distance till 2016 >> may cause
1m
interoperability teething troubles
Many variations possible with
WLAN topologies RTT
10m
RSSI Challenges:
Challenges:
20m - Need to combine/average
- Measuring to nanoseconds
1m 25m 50m 75m 100m several frames to get a good
(speed of light: 1 ft per nsec)
reading.
- Setting up circuitry to
- Averaging many frames
timestamp the right frame Scheduled periodic bursts affects battery life, network
- Calibration for time frame
capacity
leaves (arrives) at the antenna
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Time-based measurements
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Hyperbolic variations on time-based location
Not one-to-one distance
measurement, but many-to-
RTT RTT one or one-to-many
exchange exchange
Reduces the number of
frame
frames on the air, improves exchange
battery life
#ATM15 | 28 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
RTT: Calculating the AP constellation
#ATM15 | 29 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Bluetooth Low Energy technology
• BLE is also known as Bluetooth Smart, Bluetooth 4.0
• Evolution of the existing Bluetooth standard (2010)
• Focus on ultra-low power consumption (battery powered devices)
• Differences
– Efficient discovery / connection mechanism
– Very short packets
– Asymmetric design for peripherals
– Client server architecture
– Fixed advertising channels designed around WiFi channels
– Not compatible with older Bluetooth
• Most new devices support both ‘classic’ Bluetooth and BLE (“Bluetooth
Smart Ready”)
– iPhone 4S+, current (2013) iPad, Samsung Galaxy S4+, Nexus 7+
#ATM15 | 30 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
iBeacon deployment model for navigation
-76 -66
-68 -82
#ATM15 | 31 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Bluetooth Low Energy & iBeacon
Bluetooth
– Very low-power consumption: years of life from a button cell
– Advertises… ‘beacons’
– Allows scanning for ‘peripherals’
– Allows ‘central’ devices to discover ‘peripherals’
– Two-way communication channel to read/write values
iBeacon
– A subset of BLE, just the ‘advertising’ function with special fields
– Allows a background app to be alerted on proximity
– No explicit location information in an iBeacon, just a reference ID
#ATM15 | 32 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Spectrum for iBeacons & BLE
Ch 37 Ch 38 Ch 39
(2402 MHz) (2426MHz) (2480MHz)
Bluetooth Low Energy Advertisement (iBeacon)
1 Wi-Fi 6 11
2402 2412 2422 2427 2437 2447 2452 2462 2472
2400 2483.5
#ATM15 | 33 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
BLE Advertisement and iBeacon
iBeacon information
iBeacon Data
iBeacon Prefix Proximity UUID Major Minor Measured Tx Pwr
9 16 2 2 2
0201061AFF4C000215 e.g. 4152554e-f99b-86d0-947070693a78 e.g. 4159 e.g. 27341 e.g. -59
#ATM15 | 34 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
iBeacon RSSI vs distance
iBeacon RSSI (dBm) vs distance (m), line iBeacon RSSI (dBm) vs distance (m), line of
of sight sight
(RSSI averaged over 5 readings) -50
-50 -55
-55 -60
-60 -65
-65 -70
-75
-70
-80
-75
-85
-80
-90
-85
-95
-90
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 -100
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
GS4 with iBeacon 100 GS4 with iBeacon 101
GS4 with iBeacon 100 GS4 with iBeacon 101
Nexus 7 with iBeacon 100 Nexus 7 with iBeacon 101
Nexus 7 with iBeacon 100 Nexus 7 with iBeacon 101
grand average
#ATM15 | @ArubaNetworks 37 37
Techniques and constraints
Heatmap Model Constraints Prediction Models etc
i. Floorplan i. Snap to tramlines i. Sparse samples
ii. Place APs ii. Motion constraints ii. Stimulation
iii. Calibrate AP-AP iii. Motion boolean iii. Gaussian Process
iv. Training data iv. Right floor iv. Bayes
v. Ground truth locations v. AP Tx Pwr v. Neural Networks
vi. Other a-priori vi. Target Tx Pwr vi. Graphs Nodes*Edges
vii. History vii. Not heard by AP vii. Inertial navigation
viii. Out-of-bounds areas
#ATM15 | 38 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
3-dimensions
Per-floor location:
- First determine floor,
- then xy on the floor
In an open atrium, or with high ceilings, floor determination is difficult (bleed-through associations)
In an office building, emergency service (& other) requirements for correct floor are easy <90% but hard <99%
Proprietary protocols
– e.g. AirWave XML API
– ALE REST, pub-sub
– Qualcomm IZAT
#ATM15 | 40 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Why iBeacons matter on iDevices
Database of UUID-
Major-Minor to locations
(part of the app server)
Mobile App
Register for < 20
UUIDs
The iOS app lifecycle puts an app on ice when not in foreground.
Woken from How to wake up on proximity to a particular location?
background when
iOS – iOS maintains BLE in always-listening mode
UUID heard
– If the app registers for a UUID, iOS will awaken it when that UUID is
seen
– Event is a ‘region entry/exit’
Continuously
scanning for BLE radio – iBeacon background detection can take minutes
iBeacons
Even in foreground, iOS will only return data on known, specified
UUIDs
BLE air interface – ‘Ranging mode’ in foreground gives RSSI every ~ 1 second
Indoor location
– Beacons are placed throughout the building in such a way that each
location is covered by at least 3 beacons
– The mobile apps will look for nearby beacons, get beacon locations
from the cloud and calculate location locally
– Examples – any public venue with navigation apps: airports, casinos,
stadiums
Proximity
– Beacons are placed nearby exhibits or points of interest
– Mobile apps discover beacon context from the cloud and impart
interesting information
– Examples – museums, self-guided tours, door opening, forgot keys
#ATM15 | 42 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
iBeacon hunting with Android
#ATM15 | 43 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Stimulating clients
Many variations on the same basic technique:
Devices like to switch off their radios to
save the battery
- Associated AP advertises a schedule
- Neighbouring APs receive schedules of
When not associated
channel & time
- Associated AP stimulates client
When associated
- Neighbouring APs switch off-channel to
receive frames
How to catch them awake?
We can stimulate associated clients to-order
Non-associated:
Neighbour APs may be busy, dedicated
>> difficult
monitors can help
Associated: DTIM,
>> bombard with frames
Variations: use control frames, data frames,
Associated-with-app:
acks
>> generate traffic
Downside:
Same-channel APs are usually distant
Channel-switching is painful
enough that RSSI does not give accurate
Sensitive to battery considerations
location.
More frames on the air
#ATM15 | 44 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Stimulating clients: empirical algorithms & data
Solved by an (Aruba) BLE protocol to catch iBeacons awake, interrogate and re-program.
#ATM15 | 46 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Getting antennas closer to the target
#ATM15 | 47 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Scrambled MACs
What needs fixing? New behavior when Switch to conventional mode
checking for Wi-Fi
When checking for network presence, Uses correct MAC when seeking to
probe request broadcasts: associate
When not associated, not seeking
- Always include device MAC
association:
- Can include SSID “14ParkRoad”
- Use random MAC
Probe request frame
“14ParkRoad” “RandomMAC”
or
“broadcast”
#ATM15 | @ArubaNetworks 49 49
Last-generation location engines
Divide floorplan into grid ( ~ 2 metre squares) Estimate RSSI for each AP in each square Pick the most likely square
AP 13
-6dBm AP 11
-2dBm
-3dBm -8dBm
-0dBm 3dBm
6dBm 9dBm
10dBm
AP 10
14dBm 17dBm
10dBm
6dBm
2dBm AP 12
2dBm
#ATM15 | 50 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
RSSI & triangulation
#ATM15 | 51 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
RSSI & triangulation
#ATM15 | 52 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Ray-tracing approach to propagation prediction
wall
100m 50m
‘free space’ ‘wooded region’
100m 6 dB
‘free space’ wall
5m indoors
transmitter receiver
Distance
#ATM15 | 53 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Configuring construction materials
#ATM15 | 54 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Fingerprinting
The most accurate method (to date)… AP2 AP1
many points, well-averaged over many
frames at accurately-known locations.
But time-consuming, cumbersome
Non-reciprocal figures (tx pwr) may
cause difficulty
#ATM15 | 55 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Fingerprint apps: ALE Demonstrator
Pulls floorplan from ALE
Shows trail of already-fingerprinted points
Shows quality of fingerprint data per-square
Standing & clicking at each point is laborious Snap to fingerprint point or Interpolation more
>> click at beginning and end, app interpolates distance snap to tramlines: difficult but more
>> add some inertial sensor readings to improve accuracy Instant accuracy improvement! accurate.
(Blocking out impossible areas
can also help.)
#ATM15 | 57 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Fingerprinting – Up vs Dn and corrections
Client-side fingerprinting: Cloud
- Location is known from touch on floorplan etc. service
- RSSI can be scanned by Android (Broadcom ~ 5sec,
QualcommAtheros 0.5sec)
- But… best to read AP tx pwr & channel and adjust later
- Usually report to cloud service
Location
engine
Network-side fingerprinting:
- Interaction between Location Engine & client app
- Location is known from touch on floorplan etc.
- Best if client transmits constantly, data & control frames
- APs report RSSI from the client for the fingerprint
- Client reports RSSI from APs (& iBeacons & GPS etc.)
- Location engine returns status of fingerprint to client
#ATM15 | 58 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Performance of last-generation RSSI systems
Data upload / reduction problems limit timeliness if all clients are tracked
Tradeoff between generalized models and significant administration
effort required to customize for higher accuracy
#ATM15 | 59 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Machine learning – supervised learning – nonparametric
techniques
Domain knowledge Training data Test points
We have some idea of the We take some ‘training’ Take an unknown set of test
form of the problem and data and use it to set up points and find the most
solution. This influences the model. likely values.
the architecture of the
model. Invoke Bayes
i. AP-AP calibration
#ATM15 | 61 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Synthetic heatmaps for RSSI location
Create synthetic Find the likelihood Find the most likely Apply a time-based
heatmaps / reverse of each location per- location due to this probabilistic
heatmaps AP, given RSSI test vector of RSSIs adjustment
AP14
AP27
AP45
#ATM15 | 62 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Fingerprinting in the calculations
‘fingerprint data’
D = { (!1,"#1, ["$%%&1,"$%%&2,"$%%&3,"$%%&4"]1 ), (!2,"#2, ["$%%&1,"$%%&2,"$%%&3,"$%%&4"]2 ) }
Output: ‘most
likely’
value -0.5
with 95%
confidence
bounds of
What’s so useful about the Gaussian Process? Input = 3.8 -0.5 +- 1
- Very tractable mathematically (a Gaussian differentiates, integrates, marginalizes, conditions to
another Gaussian)
- Depends on hyperparameters but can be tuned by training data
- Not too onerous to compute (On3, On2)
- Gives results as Gaussian distributions with mean, variance >> confidence bounds
- Provides automatic relevance determination across data types Diagrams from ‘Rasmussen & Williams’ 2006
#ATM15 | 64 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
The Gaussian Process creates synthetic heatmaps
Use the training set to create a curve for the expected RSSI due to a given AP in every square on the grid.
Result is an expected RSSI for each square, and an expected variance or standard deviation around that value.
Consider?each?AP?separately?(we?will?combine?later)
↓T =(!↓2 ,"#↓2 )?with?RSSI?value?Y↓2
R
Set?of?training?points?D?consists?of?known?locations?
Z={(R↓4 ,"∝↓1 ),?(R↓6 ,"∝↓2 ),?(R↓7 ,"∝↓3 ),?…(R↓8 ,"∝↓4 )}
Training?points?are?sets?of?RSSI?values?taken?at?known?points.
The?covariance?function?is?arbitrarily?de_ined?as?a?Radial?Basis?Function?(RBF)?????????????????
?0(b(Y↓c ,"Y↓d )="e↓-↑2 g!c(−(h↓c −h↓d )↑2 /2'↑2 ) +"e↓2↑2 δcq
Where?e↓- ,"e↓2 ,"'"are?hyperparameters?that?determine?scale?and?accuracy?constraints?on?the?resulting?function.?
(σ↓2↑2 k?adds?the?noise?factor?for?the?difference?between?modeled?and?measured?values).
Constructing?matrices?for?input?points?(X),?rssi?values?(Λ)?and?covariance?(K)???? 0(b(o)=p+"σ↓2↑2 q??????
When?we?have?a?new?point? ↓∗ =(!↓∗ ,"#↓∗ )?and?wish?to?_ind?the?expected?RSSI?∝↓∗ =-(R↓∗ )from??
R
c(Y↓∗ |"R↓∗ ,"R,"o)="<(α↓∗ ";""t↓h↓∗ ","e↓h↓∗ ↑2 )??
The?expected?mean?for??∝↓∗ ,""""""""""t↓h↓∗ =u(R↓∗ ,"R)↑v (p+"w↓T↑6 q)↑−4 o
#ATM15 |
The?variance?for??∝↓∗ ,"""""""""""""""""""""""""e↓h↓∗ ↑2 =""u(R↓∗ ,"R↓∗ )"−x(R↓∗ ,"R)↑v (p
65 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Gaussian Process for curve-fitting: examples
0(b(Y↓c ,"Y↓d )="e↓-↑2 g!c(−(h↓c −h↓d )↑2 /2'4 ↑2 ) +"e↓2↑2 δc q
5
Let’s try σ↓f↑2 5 , l = 10, σ↓n↑2 = 2
=
2
6
7
K = cov(X1, X1) cov(X1,X2) cov( X1,X3) = 2 1.4 1.2 8
cov(X2, X1) cov(X2,X2) cov( X2,X3) 1.4 2 3.2
1.2 3.2 2
cov(X3, X1) cov(X3,X2) cov( X3,X3)
#ATM15 | 67 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Gaussian Process: putting multiple APs together
Isolating the different APs contributing to the final location… pointers from the chart
of which APs contribute to the final decision:
27. Signal stronger 41. Signal stronger 59. Pretty good… 71. Pretty good…
than expected… than expected…
This plot shows that the measured (orange) RSSI values from
almost every AP were much higher than expected (grey).
(Triangles are probabilities: when the orange and grey dots are
close together, probability is high.)
#ATM15 | 68 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Gaussian Process probability map
Multiple overlaid countour
plots of probability of RSSI x
from APy
#ATM15 | 69 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Gaussian Process: visualized track
#ATM15 | 70 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Next-generation location engines: “Machine Learning”
#ATM15 | 71 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Using multiple data sources - example
Differences between network-side and device-
side
Traditional
‘fingerprints’: test AP14 AP sees device RSSI and knows its (AP’s)
points measured on the location but does not know tx pwr.
floor Device sees AP RSSI but does not know AP
location or tx pwr (esp. with ARM)
AP – AP calibration
from Airwave Multiple APs can hear the same frame, device can
(APx,y, APtxpwr , APrssi ) only hear non-associated APs when scanning.
D = { (X1, Y1), (X2, Y2), (X3, Y3), (X4, Y4)… (Xn, Yn) }
#ATM15 | 72 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Crowdsourcing and Statistics
Fingerprinting for the modern world, machine-
learning-style
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Particle filters: time series
One of many methods of applying Bayes’ theorem to sequential noisy data. Easily
implemented in code, allows for errors in prior estimates.
Particle filters or Sequential Monte Carlo (SMC) methods are a set of on-line
posterior density estimation algorithms that estimate the posterior density of the state-space by
directly implementing the Bayesian recursion equations. (Wikipedia)
#ATM15 | 74 CONFIDENTIAL © Copyright 2015. Aruba Networks, Inc. All rights reserved
Neural networks and deep learning
+1
inputs
a -1
sigmoid function
inputs dog
b yes/no
inputs cat
+1
inputs goat
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THANK YOU
#ATM15 | @ArubaNetworks 76
… Before You Go
atmosphere
2016
arubanetworks.com/atmosphere2016
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