|
|
|
@ -1,4 +1,12 @@
|
|
|
|
|
Scenarios
|
|
|
|
|
OwlPS experiments at the CANMET mine, 2013
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
* Presentation
|
|
|
|
|
|
|
|
|
|
These experiments were conducted at the level -70 m of the CANMET
|
|
|
|
|
laboratory mine near Val-d'Or, QC, Canada, in June 2013. The main goal
|
|
|
|
|
was to test the behaviour of Wi-Fi positioning in underground mine
|
|
|
|
|
tunnels.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
* File naming convention
|
|
|
|
@ -53,11 +61,34 @@ has precedence over these common rules. Moreover, the report files
|
|
|
|
|
associated with each test should also warn about each noticed mistake,
|
|
|
|
|
and each exception made to these rules or to the scenario description.
|
|
|
|
|
|
|
|
|
|
** TODO Deployment area
|
|
|
|
|
** Deployment area
|
|
|
|
|
|
|
|
|
|
These measurements took place at the level -70 metres of the CANMET
|
|
|
|
|
laboratory mine, which is pictured on the plan [[./figures/canmet70.svg]].
|
|
|
|
|
|
|
|
|
|
CANMET is a formerly exploited gold mine. At the level -70 m, the
|
|
|
|
|
tunnels are between about 2.50 and 3-metre wide, with some exceptions
|
|
|
|
|
such as larger rooms or recesses. The walls are very irregular, and the
|
|
|
|
|
actual width can vary by several dozens of centimetres depending on
|
|
|
|
|
where it is measured.
|
|
|
|
|
|
|
|
|
|
FIXME présentation de la mine, description du niveau 70
|
|
|
|
|
- tuyaux (cf. À mesurer)
|
|
|
|
|
- parois irrégulières
|
|
|
|
|
The drifts are fairly long, the three main sections used in this series
|
|
|
|
|
of experiments being around 130 metres long. They are relatively
|
|
|
|
|
straight, but turn enough that it is easy to loose the line of sight
|
|
|
|
|
between two devices that are a few dozens of metres apart.
|
|
|
|
|
|
|
|
|
|
In some tunnels, "doors" made of plastic blades hanging from the ceiling
|
|
|
|
|
are installed; they are represented by short grey lines on the map. The
|
|
|
|
|
short black line at the south of CP3 is a wooden wall with a door and a
|
|
|
|
|
plastic tarp window, that closes a small heated room used an office when
|
|
|
|
|
experimenting at this level of the mine.
|
|
|
|
|
|
|
|
|
|
Each tunnel section contains at least one water pipe (diameter 6 or 12
|
|
|
|
|
cm) and one compressed air pipe (diameter 6 cm). The southern tunnel
|
|
|
|
|
contains a second 6-cm pipe which is empty. All these pipes are metallic
|
|
|
|
|
and are attached to one of the walls of the drift. Additionally, an
|
|
|
|
|
important group of cables and wires (network, electricity, radio, etc.)
|
|
|
|
|
is attached to the ceiling.
|
|
|
|
|
|
|
|
|
|
** Hardware
|
|
|
|
|
|
|
|
|
@ -66,7 +97,7 @@ FIXME présentation de la mine, description du niveau 70
|
|
|
|
|
All the wireless devices (mobile terminal and capture points) are
|
|
|
|
|
equipped with Mini PCI MikroTik RouterBoard R52Hn IEEE 802.11a/b/g/n
|
|
|
|
|
cards. Since we work only with 802.11b/g, only one of the two MC
|
|
|
|
|
connectors of the card is used (cf. the next paragraph, /Antennas/). The
|
|
|
|
|
connectors of the card is used (see the next paragraph, /Antennas/). The
|
|
|
|
|
Linux driver for these cards is ath9k. The power transmission used is 25
|
|
|
|
|
dBm.
|
|
|
|
|
|
|
|
|
@ -99,37 +130,70 @@ Lenovo ThinkPad X200 running Debian GNU/Linux unstable (Linux 3.9).
|
|
|
|
|
|
|
|
|
|
** Position of the capture points
|
|
|
|
|
|
|
|
|
|
FIXME (cf. Position des bornes)
|
|
|
|
|
|
|
|
|
|
CP1, CP2 and CP5 are powered by a 24 V PoE (Power over Ethernet) switch
|
|
|
|
|
located next to CP1; CP3 and CP6 are powered by two PoE injectors
|
|
|
|
|
located next to CP3.
|
|
|
|
|
|
|
|
|
|
CP2 sits on top of a plastic door with a wooden frame; its antenna is
|
|
|
|
|
20 cm south of the door.
|
|
|
|
|
CP1 hangs from metallic pipes attached to the ceiling near the middle of
|
|
|
|
|
the intersection of the northern and the eastern tunnels; its antenna
|
|
|
|
|
is:
|
|
|
|
|
- 2.20 m above the floor
|
|
|
|
|
- 2.70 m from the south wall
|
|
|
|
|
- 1.80 m from the north wall
|
|
|
|
|
- 2.27 m from the east angle
|
|
|
|
|
- 32 m from the door in direction of CP5 (west)
|
|
|
|
|
- approximately 74.50 m from CP2 (9.50 m from the small recess in the
|
|
|
|
|
east wall of the eastern tunnel, which is itself 65 m away from CP2)
|
|
|
|
|
|
|
|
|
|
CP2 sits on top of a plastic door with a wooden frame; its antenna is:
|
|
|
|
|
- in the middle of the tunnel (1.27 m from each wall)
|
|
|
|
|
- 2.40 m above the floor
|
|
|
|
|
- 0.20 m north of the door
|
|
|
|
|
- 64.50 m from CP3
|
|
|
|
|
- 18.20 m from the ventilation raise
|
|
|
|
|
|
|
|
|
|
CP3 is put on a block of concrete, its antenna is at 0.70 m above the
|
|
|
|
|
floor, in vertical position, in direction of the ceiling. The other
|
|
|
|
|
capture points are attached to the ceiling and have their antennas in
|
|
|
|
|
vertical position, in the direction of the ground.
|
|
|
|
|
|
|
|
|
|
Ground coordinates:
|
|
|
|
|
- CP1: 128.25;142.40
|
|
|
|
|
- CP2: 160.85;78.30
|
|
|
|
|
- CP3: 177.90;18.15
|
|
|
|
|
- CP5: 72.10;122
|
|
|
|
|
- CP6: 121.80;-21.10
|
|
|
|
|
vertical position, in the direction of the ground. CP3's antenna is
|
|
|
|
|
also:
|
|
|
|
|
- 1.50 m from the east wall
|
|
|
|
|
- 3 m from the west wall
|
|
|
|
|
- 2.50 m from the south angle
|
|
|
|
|
|
|
|
|
|
CP5 is hanging from a metallic part from the trapdoor of the raise
|
|
|
|
|
70-D-101. It's antenna is:
|
|
|
|
|
- 2.20 m above the floor
|
|
|
|
|
- 1 m from the west wall of the recess
|
|
|
|
|
- 3.25 m from the south wall
|
|
|
|
|
- 15 m from the raise 110-D-105
|
|
|
|
|
- 26.50 m from the door in direction of CP1 (east)
|
|
|
|
|
- 58.50 m from CP1
|
|
|
|
|
|
|
|
|
|
CP6 is attached on top of the group of cables that run along the
|
|
|
|
|
ceiling. Its antenna is:
|
|
|
|
|
- 2.30 m above the ground
|
|
|
|
|
- 1.50 m from the south wall
|
|
|
|
|
- 0.50 to 0.60 m from the north wall
|
|
|
|
|
- approximately 75 m from CP3
|
|
|
|
|
|
|
|
|
|
Coordinates:
|
|
|
|
|
- CP1: 128.25;142.40;2.20
|
|
|
|
|
- CP2: 160.85;78.30;2.40
|
|
|
|
|
- CP3: 177.90;18.15;0.70
|
|
|
|
|
- CP5: 72.10;122;2.20
|
|
|
|
|
- CP6: 121.80;-21.10;2.30
|
|
|
|
|
|
|
|
|
|
The capture points' coordinates are also given in the OwlPS Positioner's
|
|
|
|
|
configuration file [[./owlps-config/listeners-rb.csv]], and you can also
|
|
|
|
|
visuazise their positions on the map [[./figures/canmet70.svg]].
|
|
|
|
|
visualise their positions on the map [[./figures/canmet70.svg]].
|
|
|
|
|
|
|
|
|
|
** Network set up
|
|
|
|
|
|
|
|
|
|
The capture points and the aggregation server are connected through an
|
|
|
|
|
Ethernet network. The deployment plan [[./figures/canmet_deployment.svg]]
|
|
|
|
|
shows the wiring used, that takes advantage of the fact than the
|
|
|
|
|
RouterBoard 433 have 3 ethernet connectors (the 3 ports of each board
|
|
|
|
|
RouterBoard 433 have 3 Ethernet connectors (the 3 ports of each board
|
|
|
|
|
are set up in a bridge). The IP network used in the wired deployment is
|
|
|
|
|
192.168.88.0/24. Each capture point has an address of the form
|
|
|
|
|
192.168.88.10x, where x is the capture point's number (CPx). The
|
|
|
|
@ -159,9 +223,11 @@ capture point to another) and seemed a unnecessary complication.
|
|
|
|
|
Moreover, it allows to control the transmission of the positioning
|
|
|
|
|
requests simply by turning on and off the AP.
|
|
|
|
|
|
|
|
|
|
** TODO Environmental parameters
|
|
|
|
|
** Environmental parameters
|
|
|
|
|
|
|
|
|
|
The temperature and humidity FIXME
|
|
|
|
|
The temperature and humidity could not be measured precisely during the
|
|
|
|
|
experiments. However, in the summer, it is known that the temperature
|
|
|
|
|
is between 5 and 7 °C, and the humidity is very high.
|
|
|
|
|
|
|
|
|
|
** OwlPS configuration
|
|
|
|
|
|
|
|
|
@ -220,7 +286,7 @@ The complete command used to launch OwlPS Client is the following:
|
|
|
|
|
terminal is attached to the belt, and the antenna can bend somewhat
|
|
|
|
|
due to body motion (the bending is approximately 45° forward).
|
|
|
|
|
- The default packet size is used; the packet size received by the
|
|
|
|
|
capture points is FIXME bytes for positioning requests and FIXME for
|
|
|
|
|
capture points is 108 bytes for positioning requests and 121 bytes for
|
|
|
|
|
(auto)calibration requests.
|
|
|
|
|
|
|
|
|
|
** Measurement procedure
|
|
|
|
@ -232,7 +298,7 @@ The complete command used to launch OwlPS Client is the following:
|
|
|
|
|
measurements should start at least 20 seconds after the Aggregator
|
|
|
|
|
is started.
|
|
|
|
|
|
|
|
|
|
** TODO Measurement points
|
|
|
|
|
** Measurement points
|
|
|
|
|
|
|
|
|
|
For simplicity's sake, we defined a bunch of measurement points that
|
|
|
|
|
can be used in the description of the scenarios. They are named after
|
|
|
|
@ -241,15 +307,19 @@ their proximity to the capture points.
|
|
|
|
|
- North tunnel:
|
|
|
|
|
- MP1 :: next to CP1 (s07_t02): 127;141
|
|
|
|
|
- MP11 :: east of CP1, line of sight: 155.50;158.50
|
|
|
|
|
- MP12 :: east of CP1, 10 m north: 155.50;168.50
|
|
|
|
|
- MP12 :: 10 m north of MP11: 155.50;168.50
|
|
|
|
|
- MP51 :: west intersection: 2;85.50
|
|
|
|
|
- MP52 :: between CP5 and the west intersection: 47.50;99.50
|
|
|
|
|
- East tunnel:
|
|
|
|
|
- MP3 :: next to CP3: 184;18.50
|
|
|
|
|
- MP3 :: next to CP3, in the middle of the tunnel, at 1.30 m from CP3
|
|
|
|
|
and 1.80 m from the north-west wall: 184;18.50
|
|
|
|
|
- MP31 :: water tank: 198;24
|
|
|
|
|
- MP32 :: recess south-west of CP3: 175.80;10.90
|
|
|
|
|
- MP22 :: between CP2 and CP3: 173;48
|
|
|
|
|
- South tunnel:
|
|
|
|
|
- MP6 :: next to CP6: 121.80;-21.50
|
|
|
|
|
- MP6 :: under CP6 but in the middle of the tunnel (CP6 is not exactly
|
|
|
|
|
in the middle of the tunnel, cf. supra, /Position of the
|
|
|
|
|
capture points/): 121.80;-21.50
|
|
|
|
|
- MP61 :: emergency exit, at 2 m from the end of the tunnel, 49 m from
|
|
|
|
|
CP6, middle of the tunnel (about 1.10 m from each side):
|
|
|
|
|
75.50;-34.50
|
|
|
|
@ -268,9 +338,6 @@ ewith the series number:
|
|
|
|
|
can be either static or in motion.
|
|
|
|
|
- Series 3 :: the client terminal is attached to a vehicle.
|
|
|
|
|
|
|
|
|
|
# FIXME This series of scenarios is schematised in the figure
|
|
|
|
|
# [[./figures/room.svg]].
|
|
|
|
|
|
|
|
|
|
** Series 0: empty area
|
|
|
|
|
|
|
|
|
|
In these scenarios, the client terminal is static, on a wooden table
|
|
|
|
@ -279,23 +346,15 @@ for at least 5 minutes.
|
|
|
|
|
|
|
|
|
|
*** Scenario 01: dead end drift
|
|
|
|
|
|
|
|
|
|
The client terminal is located at the emergency exit (end of the tunnel
|
|
|
|
|
at the west of CP6). More precisely, it is at about 2 m from the end of
|
|
|
|
|
the tunnel, 49 m from CP6, and in the middle of the tunnel (about 1.10 m
|
|
|
|
|
from each side).
|
|
|
|
|
The client terminal is located at the emergency exit (MP61).
|
|
|
|
|
|
|
|
|
|
*** Scenario 02: next to CP6
|
|
|
|
|
|
|
|
|
|
The client terminal is located under CP6, but in the middle of the
|
|
|
|
|
tunnel (CP6 is not exactly in the middle of the tunnel, cf. supra,
|
|
|
|
|
/Position of the capture points/).
|
|
|
|
|
The client terminal is located under CP6 (MP6).
|
|
|
|
|
|
|
|
|
|
*** Scenario 03: next to CP3
|
|
|
|
|
|
|
|
|
|
The client terminal is located next to CP3, in the middle of the tunnel,
|
|
|
|
|
at:
|
|
|
|
|
- 1.30 m from CP3,
|
|
|
|
|
- 1.80 m from the north-west wall.
|
|
|
|
|
The client terminal is located next to CP3 (MP3).
|
|
|
|
|
|
|
|
|
|
*** Scenario 04: against CP3
|
|
|
|
|
|
|
|
|
@ -308,9 +367,9 @@ detail.
|
|
|
|
|
|
|
|
|
|
In this scenario, the client terminal is located precisely between CP3
|
|
|
|
|
and CP2, which is a straight tunnel section. Measurements are taken with
|
|
|
|
|
the terminal.
|
|
|
|
|
1. in the middle of the tunnel, in which case it is in line of sight
|
|
|
|
|
with both CP2 and CP3;
|
|
|
|
|
the terminal:
|
|
|
|
|
1. in the middle of the tunnel (MP22), in which case it is in line of
|
|
|
|
|
sight with both CP2 and CP3;
|
|
|
|
|
2. against the east wall;
|
|
|
|
|
3. against the west wall.
|
|
|
|
|
|
|
|
|
@ -334,7 +393,7 @@ from the plastic door).
|
|
|
|
|
|
|
|
|
|
*** Scenario 07: intersection, next to CP1
|
|
|
|
|
|
|
|
|
|
The client terminal is located at the intersection where CP1 sits.
|
|
|
|
|
The client terminal is located at the intersection where CP1 sits (MP1).
|
|
|
|
|
Please see the report files for the precise position.
|
|
|
|
|
|
|
|
|
|
** Series 1: empty area, difficult location
|
|
|
|
@ -361,9 +420,9 @@ sight with CP3, but not with CP6 or CP2.
|
|
|
|
|
*** Scenario 13: uncovered area
|
|
|
|
|
|
|
|
|
|
The client terminal is located at the end of the tunnel at the east of
|
|
|
|
|
CP3, near the water tank. On the map, the wall of the water tank is the
|
|
|
|
|
red line at the end of the blue-colored walls; the terminal is at 1.50 m
|
|
|
|
|
at the east of this wall. Other distance indications:
|
|
|
|
|
CP3, near the water tank (MP31). On the map, the wall of the water tank
|
|
|
|
|
is the red line at the end of the blue-coloured walls; the terminal is
|
|
|
|
|
at 1.50 m at the east of this wall. Other distance indications:
|
|
|
|
|
- the terminal is at 10 m from the plastic door and the door is at 6.50
|
|
|
|
|
m from the west wall of the main tunnel;
|
|
|
|
|
- therefore, the terminal is at 16.50 m from the west wall of the main
|
|
|
|
@ -377,8 +436,8 @@ at the east of this wall. Other distance indications:
|
|
|
|
|
|
|
|
|
|
*** Scenario 14: other non-covered area
|
|
|
|
|
|
|
|
|
|
The client terminal is located in the section at the west of CP1. Please
|
|
|
|
|
see the report files for the precise location.
|
|
|
|
|
The client terminal is located in the section at the west of CP1 (MP11
|
|
|
|
|
and MP12). Please see the report files for the precise location.
|
|
|
|
|
|
|
|
|
|
** Series 2: human operator
|
|
|
|
|
|
|
|
|
@ -391,13 +450,13 @@ description of the variations experimented.
|
|
|
|
|
*** Scenario 22: walking along all the tunnels
|
|
|
|
|
|
|
|
|
|
In this scenario, the operator walks from the south-west end of the
|
|
|
|
|
covered gallery, near the emergency exit, at 2 m from the west wall,
|
|
|
|
|
and goes all the way along the covered sections of tunnel to stop under
|
|
|
|
|
CP5. In order to ease the treatment of the data, he stops next to each
|
|
|
|
|
capture point and turns off the access point, hence preventing
|
|
|
|
|
positioning requests to be sent. After about 30 seconds, the AP is
|
|
|
|
|
started again, the operator waits for 5 to 6 seconds (the time needed by
|
|
|
|
|
the client terminal to reconnect to the AP), then starts walking again.
|
|
|
|
|
covered gallery (MP61, near the emergency exit), and goes all the way
|
|
|
|
|
along the covered sections of tunnel to stop under CP5. In order to ease
|
|
|
|
|
the treatment of the data, he stops next to each capture point and turns
|
|
|
|
|
off the access point, hence preventing positioning requests to be
|
|
|
|
|
sent. After about 30 seconds, the AP is started again, the operator
|
|
|
|
|
waits for 5 to 6 seconds (the time needed by the client terminal to
|
|
|
|
|
reconnect to the AP), then starts walking again.
|
|
|
|
|
|
|
|
|
|
See the report files for precise timing.
|
|
|
|
|
|
|
|
|
@ -411,9 +470,9 @@ the water tank.
|
|
|
|
|
|
|
|
|
|
*** Scenario 24: walking in the northern tunnel
|
|
|
|
|
|
|
|
|
|
The operator starts 40 m west of CP1, in line of sight and walks the
|
|
|
|
|
The operator starts 40 m east of CP1, in line of sight and walks the
|
|
|
|
|
tunnel west, in direction of CP1 and CP5, to end at the intersection at
|
|
|
|
|
the west of CP5.
|
|
|
|
|
the west of CP5 (MP51).
|
|
|
|
|
|
|
|
|
|
** Series 3: vehicle
|
|
|
|
|
|
|
|
|
@ -429,7 +488,7 @@ The terminal is attached at 1.70 m above the ground level, and is at
|
|
|
|
|
0.30 m from the left side of the vehicle.
|
|
|
|
|
|
|
|
|
|
Since it is too big to go at the very end of the tunnel near the
|
|
|
|
|
emergency exit, the vehicle starts from the last ore loading point (the
|
|
|
|
|
nearest from the emergency exit). It then follows almost the same path
|
|
|
|
|
as in scenario 22, stopping next to each capture point in the same
|
|
|
|
|
way. After CP5, the vehicle continues to the west intersection.
|
|
|
|
|
emergency exit, the vehicle starts from the western ore loading point
|
|
|
|
|
(MP62). It then follows almost the same path as in scenario 22, stopping
|
|
|
|
|
next to each capture point in the same way. After CP5, the vehicle
|
|
|
|
|
continues to the west intersection (MP51).
|
|
|
|
|