Multipath-Assisted Smartphone Tracking Using a Single Speaker and a Built-In Monaural Microphone

Ibuki Yoshida;Masanari Nakamura;Hiroaki Murakami;Hiromichi Hashizume;Masanori Sugimoto
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Abstract

The use of location data offers significant convenience in both daily life and industry. However, global positioning system (GPS) is not effective indoors, so alternative technologies are necessary. Current positioning technologies require multiple transmitters and receivers or precollected data, leading to high installation and implementation costs. Our study presents a low-cost tracking method that utilizes a single speaker installed on the ceiling and a smartphone’s monaural microphone. We leverage reflected waves from the walls and floor, treating them as signals from virtual speakers at the mirror-image positions of these surfaces. This approach ensures the generation of necessary signals for positioning and allows for accurate tracking using only a single speaker. However, as all the reflected waves are quite similar, it becomes challenging to associate each reflected wave with its corresponding virtual speaker. We designed an evaluation function to address this, considering real-world challenges, such as undetected reflected waves, outliers, and overlapping signals. We evaluate the correspondence between the prediction and the observation using a likelihood function, weighted by the number of outliers. When the reflected signals are overlapped, we introduce ambiguity by increasing the variance of the normal distribution. Our method accurately identifies reflected waves and estimates the target’s trajectory with precision. We evaluated the method under varying conditions across multiple paths, achieving positioning accuracy with a 50th percentile error of 0.34 m and a 90th percentile error of 0.64 m. This led to a 62% performance improvement compared to the scenario that does not account for real-world challenges.
使用单个扬声器和内置单声道麦克风的多路径辅助智能手机跟踪
位置数据的使用在日常生活和工业中都提供了极大的便利。然而,全球定位系统(GPS)在室内效果不佳,因此需要替代技术。目前的定位技术需要多个发射器和接收器或预先收集数据,导致安装和实施成本高。我们的研究提出了一种低成本的跟踪方法,利用安装在天花板上的单个扬声器和智能手机的单声道麦克风。我们利用来自墙壁和地板的反射波,将其视为来自这些表面镜像位置的虚拟扬声器的信号。这种方法确保产生必要的定位信号,并允许使用单个扬声器进行准确跟踪。然而,由于所有的反射波都非常相似,因此将每个反射波与相应的虚拟扬声器联系起来变得具有挑战性。我们设计了一个评估函数来解决这个问题,考虑到现实世界的挑战,如未检测到的反射波、异常值和重叠信号。我们使用似然函数评估预测和观测之间的对应关系,该函数由异常值的数量加权。当反射信号重叠时,我们通过增加正态分布的方差来引入模糊。该方法能准确地识别反射波,并能精确地估计目标的轨迹。我们在不同条件下评估了该方法在多个路径上的定位精度,其第50百分位误差为0.34 m,第90百分位误差为0.64 m。与不考虑现实挑战的场景相比,这导致了62%的性能提升。
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