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