495 lines
19 KiB
Org Mode
495 lines
19 KiB
Org Mode
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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: sS_tT_YYYY-MM-DD_hh:mm[_info][+suffix][_similarity].extension
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With:
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- S :: scenario number, on two digits.
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- T :: test number; for a given scenario, the first test number is 01,
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and each time the scenario is played the test number is
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incremented.
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- YYYY :: year.
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- MM :: month.
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- DD :: day.
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- hh :: hour.
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- mm :: minutes.
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- info :: an optional informative string can be added, for example when
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a scenario has to be run several times with different parameters; when
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not obvious, the meaning of such suffixes should be documented in the
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report files.
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- suffix :: an optional suffix can be added, separated by a +; suffixes
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have the following meanings: + coord :: the real coordinate were added in the file;
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+ calib :: the file is a manual calibration file, containing
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calibration requests (type 1) (+coord is implied, as
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manual calibration requests always contain the mobile's
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coordinates); it can be made from real calibration
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requests, or from simple positioning requests with added
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coordinates and adapted type.
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- extension :: file extension:
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+ agg :: OwlPS Aggregator output file; + txt :: experiment report;
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+ log :: OwlPS Positioner log file (recorded at the input); + pos :: OwlPS Positioner results;
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+ out :: OwlPS Positioner standard output; + err :: OwlPS Positioner standard error;
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+ ods :: results formatted in a spreadsheet.
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For the result files, the name of the similarity algorithm used to
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compute the positions is added after the suffix. For now it can be one
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of the following:
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- mean,
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- interval,
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- interval2.
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* Experiment rules and information
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Except if stated otherwise, all the scenarios follow these rules (or
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should follow them for future tests). The description of the scenarios
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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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** 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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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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*** Wireless cards
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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 (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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*** Antennas
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All the wireless devices are equipped with an RP-SMA triband 2.4/5.1/5.8
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GHz rubber ducky antenna, connected to the device with a RP-SMA to Type
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N adapter and a 22 cm long cable with a MC connector plugged into the
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wireless card. The gain of these antennas at 2.4 GHz is 3 dBi.
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*** Mobile terminal
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The mobile terminal is a MikroTik RouterBoard 411AH powered by a
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portable car battery booster kit that provides 110 V AC power plugs (and
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is freaking heavy!). The operating system is OpenWrt 12.09.
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*** Capture points
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Five capture points are used, all of the MikroTik brand but with
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different models:
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- CP1, CP2 and CP3: RouterBoard 433 (3 Ethernet connectors)
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- CP5 and CP6: RouterBoard 411
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(There is no CP4.)
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Like the mobile terminal, they all run OpenWrt 12.09.
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*** Aggregation server
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Lenovo ThinkPad X200 running Debian GNU/Linux unstable (Linux 3.9).
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** Position of the capture points
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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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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. 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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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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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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aggregation server has address 192.168.88.254.
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To transmit autocalibration requests, the capture points are connected
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through an ad hoc Wi-Fi network, and transmit requests to one of the
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other nearby capture points (this can also be seen in the deployment
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plan):
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- CP1 transmits to CP2
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- CP2 transmits to CP1
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- CP3 transmits to CP6
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- CP5 transmits to CP1
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- CP6 transmits to CP3
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The IP network used in this ad hoc network is 192.168.89.0/24; the
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addresses are equivalent to the addresses in the wired network
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(192.168.89.10x).
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The mobile terminal is connected to a portable Wi-Fi access point (AP),
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which is a smartphone running CyanogenMod 10.1.0. The positioning
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requests are transmitted to the AP's IP address. Though it would have
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been possible to use the ad hoc network created by the capture points
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for this purpose, this would have implied to set up routing between the
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capture points (to avoid having to change the destination host from one
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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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** Environmental parameters
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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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*** Aggregator
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OwlPS Aggregator version v1.3.3-72-g4d8e9cf was used (slightly earlier
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versions were also used in the first days of the experiments).
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OwlPS Aggregator is run with the default parameters as of the version
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used, with autocalibration enabled. These parameters can be found in the
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configuration file [[./owlps-config/owlps-aggregator.conf]].
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These parameters are not very important, except for the delay between
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two autocalibration orders. The default value is 1000 ms.
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*** Listener
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OwlPS Listener version v1.3.3-17-gdc60892 was used.
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The OwlPS Listener program runs continuously, with the autocalibration
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activated. The exact parameters can be found in the configuration file
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[[./owlps-config/owlps-listener.conf]].
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The default autocalibration parameters are used, i.e.:
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- 20 packets (-n20),
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- 25 ms between two packets (-t25).
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*** Client
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OwlPS Client version v1.3.3-17-gdc60892 was used.
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The mobile terminal continuously sends positioning requests with the
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following parameters:
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- 20 packets (-n20),
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- 10 ms between two packets (-t10),
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- 800 ms between two requests (-F800).
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Therefore, one request is transmitted approximately each second.
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As stated above, the destination IP address is the AP's one (i.e.
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192.168.43.1 in our setup).
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The complete command used to launch OwlPS Client is the following:
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: owlps-client -i 192.168.43.1 -n20 -t10 -F800
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** Measurement-related rules and information
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- When the terminal is static, it is put on a small wooden table (66 cm
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high) and the altitude of the antenna's base is 0.70 m above the
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floor.
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- When the terminal is carried by an operator, the altitude of the
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antenna's base is 1 m above the floor.
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- When the terminal is static, either on the table or carried by an
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operator, its antenna is vertical.
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- When the terminal is static, either on the table or carried by an
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operator, the measurements are taken for at least five minutes.
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- In the scenarios in which an operator carries it and walks, the
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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 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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- The infrastructure (Listeners and Aggregator) must be started first
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and at least two rounds of autocalibration request done (i.e. each
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capture point must have sent at least two autocalibration requests)
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before the mobile terminal is started. As a best practice, the
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measurements should start at least 20 seconds after the Aggregator
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is started.
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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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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 :: 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, 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 :: 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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- MP62 :: west ore loading point near the exit: 94.50;-29.50
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* Scenarios
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Scenarios are divided in three series, and the scenario number starts
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ewith the series number:
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- Series 0 :: the client terminal is static, with no operator in the
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measurement area.
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- Series 1 :: ditto, but in unfavourable locations (uncovered areas,
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deep recesses, etc.).
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- Series 2 :: the client terminal is carried by a human operator, which
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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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** Series 0: empty area
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In these scenarios, the client terminal is static, on a wooden table
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(cf. supra, /Measurement-related rules/). The measurements are taken
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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 (MP61).
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*** Scenario 02: next to CP6
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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 (MP3).
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*** Scenario 04: against CP3
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This is a test scenario in which the client terminal is very close to
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CP3, in order to determine if the transmission with CP6, CP2 and CP1 is
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the same for the two devices. Please see the report files for more
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detail.
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*** Scenario 05: straight tunnel, middle and walls
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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 (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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When against the walls, the terminal may not be in line of sight of the
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two CPs any more. Please see the report files for a precise indication
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of the terminal position.
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*** Scenario 06: straight tunnel, middle and recess
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This scenario is very similar to the previous one, except the mobile
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terminal is located in front of the ventilation raise in tunnel section
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between CP2 and CP1. Two measurements are taken:
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1. the terminal is in the middle of the tunnel, in line of sight with
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CP2 (and good visibility from CP1, despite the lack of line of
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sight);
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2. the terminal is in the recess of the west side of the tunnel, at
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about 50-60 cm from the wall, with no line of sight from both CPs.
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At the first position, the client terminal is at 18 m from CP2 (18.20 m
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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 (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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*** Scenario 11: ore loading point
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The ore loading points are what appear as six short north-south-oriented
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tunnels in the southern tunnel where is CP6. In this scenario, the
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client terminal is in the second loading point from the east of the
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tunnel, that is between CP6 and CP3, at 13 m from CP6. It is in the
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middle (east-west) of the loading point, at 4.50 m north of the middle
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of the east-west tunnel (that is, about 5.50 m from the south wall).
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Obviously, the terminal is not in line of sight with either CP6 or CP3.
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*** Scenario 12: recess, south-west of CP3
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The client terminal is located in the recess at the south-west of CP3
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(north wall of the south tunnel). More precisely, it is 12.20 m from
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CP3 and at about 0,75 m from the north and west walls of the
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recess. The west wall of the recess is at 13.50 m from CP3 (and
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therefore at 75 - 13.50 = 61.50 m from CP6). The terminal is in line of
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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 (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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tunnel;
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- CP3 is at 5.80 m from the same point of the west wall of the main
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tunnel;
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- the terminal is at 1.90 m from the south wall of the room;
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- the terminal is at 1.30 m from the north side of the water tank, and
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at 4 m from the north wall of the room;
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- walking, CP3 and the terminal are separated by about 17.50 m.
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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 (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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*** Scenario 21: dead end drift
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This scenario is similar to the scenario 01, but the client terminal is
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carried by a human operator. Please see the report files for the
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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 (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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*** Scenario 23: walking in a non-covered area
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This scenario is similar to scenario 13, but the operator carries the
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mobile terminal from the middle of the main tunnel, facing the plastic
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door (at 6.65 m from CP3, 4.85 m from the door and 1.70 m from the west
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wall) to the water tank. The operator stops at about 0.50 m in front of
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the water tank.
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*** Scenario 24: walking in the northern tunnel
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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 (MP51).
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** Series 3: vehicle
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*** Scenario 31: driving along all the tunnels
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This scenario is similar to scenario 22, but the mobile terminal is
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mounted on a small mine transporter of the following dimensions:
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- width: 1.40 m
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- length: 2 m
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- height: 1.90 m
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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 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).
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