Tracking Mobile Nodes

Using RF Doppler Shifts

Branislav Kusy
Computer Science Department
Stanford University

Akos Ledeczi, Xenofon Koutsoukos

Institute for Software Integrated Systems
Vanderbilt University
Tracking Mobile Objects

Problem definition: keep track of location and

velocity of “cooperating” moving objects
continuously over time.
 Our Contributions

• We propose a novel tracking algorithm

that utilizes RF Doppler shifts
• We develop a technique allowing us to
measure RF Doppler shifts using low cost
hardware
• Mica2: 8MHz CPU and 9kHz sampling rate
• We evaluate our algorithm both
experimentally and in simulation
 Utilizing Doppler Effect
• Single receiver allows us to measure relative
speed.
 Utilizing Doppler Effect
• Multiple receivers allow us to calculate location
and velocity of the tracked node.
 Doppler Effect

• Assume a mobile source transmits a signal with

frequency f, and f’ is the frequency of received
signal

f’ = f + Δf
Δf = - v / λf
v is relative speed of
source and receiver

source
λf is wavelength of the
Jose Wudka, physics.ucr.edu
transmitted signal
Can we Measure Doppler Shifts?

Dopp. Shift
Typ. freq
(@ 1 m/s)
Acoustic signals 1-5 kHz 3-15 Hz
Radio signals
433 MHz 1.3 Hz
(mica2)
Radio signals
2.4 GHz 8 Hz
(telos)
Intriguing option: if we can utilize radio
signals, no extra HW is required
Solution: radio interfereometry
 Measuring Doppler shift
We use radio interferometry to measure
Doppler frequency shifts with 0.21 Hz
accuracy.
430MHz • 2 nodes T, A transmit sine
430MHz+300
A waves @430 MHz
Hz f T, f A
T
• Node Si receives
interference signal (in
Si stationary case)
fi = fT – f A
• T is moving, fi is Doppler
shifted
300Hz+ Δfi,T fi = fT – fA + Δfi,T

Beat frequency is estimated using the RSSI

(onesignal.
problem: we don’t know the
value fT-fA accurately)
 Formalization
We want to calculate both location and
velocity of node T from the measured
Doppler shifts.
Unknowns:
• Location, velocity of T, and fT-fA
x=(x,y,vx,vy,f^)
Knowns (constraints):
• Locations (xi,yi) of nodes Si
• Doppler shifted frequencies
fi
c=(f1,…,fn)
Function H(x)=c:
f4 = fT – fA + Δf4
= fT – fA + v4/λT Non-linear system of equations!
Tracking as Optimization Problem
Non-linear Least Squares (NLS)
• Minimize objective function ||H(x) – c||
• What’s the effect of measurement errors?
Experiment:
• 1 mobile transmitter
• 8 nodes measure fi
Figure shows objective
function for fixed (x,y)
coordinates
 Improving Accuracy
State Estimation: Kalman Filter
• Measurement error is Gaussian
• Model dynamics of the tracked node (constant speed)
• Accuracy improves, but maneuvers are a problem

Experiment:
• tracked node moves on
a line and then turns
• KF requires 6 rounds to
converge back.
 Resolving EKF Problems
Combine Least Squares and Kalman Filter
• Run standard KF algorithm
• Detect maneuvers of the tracked node
• Update KF state with NLS solution

Dilemma: how much to trust our

measurements
 Tracking Algorithm
Infrastructure nodes record
Doppler shifted beat frequency.

Doppler shifted
frequencies
Calculate location and velocity
Extended
using Kalman filter.
Kalman
filter
Location & Velocity

Maneuve Non-linear Run a simple maneuver

r Yes least detection algorithm.
detection
No squares
NLS Location
& Velocity
Location
& If maneuver is detected,
Velocity Update EKF calculate NLS solution and
update EKF state.

Updated
Show location on the screen.
Location &
Velocity
 Experimental Evaluation

Vanderbilt football
stadium
• 50 x 30 m area
• 9 infrastructure XSM
nodes
• 1 XSM mote tracked
• position fix in 1.5
seconds
Non-maneuvering case

14
 Experimental Evaluation

Vanderbilt football
stadium
• 50 x 30 m area
• 9 infrastructure XSM
nodes
• 1 XSM mote tracked
• position fix in 1.5
seconds
Maneuvering case

Only some of the tracks are shown for clarity.

15
 Conclusions

• Introduced novel tracking algorithm that

utilizes Doppler shift measurements only
• Doppler shifts can be accurately measured
using radio interferometry
• Improved EKF performance in
maneuvering case
• Feasibility of our approach shown
experimentally