Future Positioning Systems – from Phone to Drone | Fredrik Gustafsson | TEDxNorrköping

evolution has turned humans into a great

evolution has turned humans into a great innovative explorers and navigators we

innovative explorers and navigators we

innovative explorers and navigators we are very good at local navigation to

are very good at local navigation to

are very good at local navigation to find our way in known environments but

find our way in known environments but

find our way in known environments but we are not so good at global navigation

we are not so good at global navigation

we are not so good at global navigation I will come back to that the local

I will come back to that the local

I will come back to that the local navigation all our sensors collaborators

navigation all our sensors collaborators

navigation all our sensors collaborators all very complex task that machines and

all very complex task that machines and

all very complex task that machines and computers cannot compete with vision is

computers cannot compete with vision is

computers cannot compete with vision is our primary sensor it builds a local

our primary sensor it builds a local

our primary sensor it builds a local model of the surroundings in which we

model of the surroundings in which we

model of the surroundings in which we move we support this with prior

move we support this with prior

move we support this with prior knowledge of how such surroundings look

knowledge of how such surroundings look

knowledge of how such surroundings look like and contextual information we are

like and contextual information we are

like and contextual information we are used to in such environments we

used to in such environments we

used to in such environments we complement with force feedback from our

complement with force feedback from our

complement with force feedback from our feet when we move and other senses the

feet when we move and other senses the

feet when we move and other senses the inner ear is quite advanced it

inner ear is quite advanced it

inner ear is quite advanced it completely provides motion and

completely provides motion and

completely provides motion and orientation we have a good sense of what

orientation we have a good sense of what

orientation we have a good sense of what is up and down our rotation speed and

is up and down our rotation speed and

is up and down our rotation speed and acceleration and we can use that to date

acceleration and we can use that to date

acceleration and we can use that to date awake on our movement over short

awake on our movement over short

awake on our movement over short distances even with our eyes closed that

distances even with our eyes closed that

distances even with our eyes closed that is we have a redundant sensing system on

is we have a redundant sensing system on

is we have a redundant sensing system on a larger scale we use a world model with

a larger scale we use a world model with

a larger scale we use a world model with the landmarks to navigate ourselves in

the landmarks to navigate ourselves in

the landmarks to navigate ourselves in known environments this is also a very

known environments this is also a very

known environments this is also a very complex problem that computers are

complex problem that computers are

complex problem that computers are struggling with still today but when it

struggling with still today but when it

struggling with still today but when it comes to global navigation that is to

comes to global navigation that is to

comes to global navigation that is to find our position in terms of longitude

find our position in terms of longitude

find our position in terms of longitude and latitude we are often lost we need

and latitude we are often lost we need

and latitude we are often lost we need tools to navigate on large areas to find

tools to navigate on large areas to find

tools to navigate on large areas to find our longitude and latitude on the globe

our longitude and latitude on the globe

our longitude and latitude on the globe or in a restricted area such as

or in a restricted area such as

or in a restricted area such as Manhattan or even in a shopping mall at

Manhattan or even in a shopping mall at

Manhattan or even in a shopping mall at Manhattan the way we solve this task

Manhattan the way we solve this task

Manhattan the way we solve this task dailies by recognizing landmarks and

dailies by recognizing landmarks and

dailies by recognizing landmarks and comparing to a map mental or physical

comparing to a map mental or physical

comparing to a map mental or physical map of landmarks that is also something

map of landmarks that is also something

map of landmarks that is also something we need to learn

we need to learn

we need to learn but they were actually animals that are

but they were actually animals that are

but they were actually animals that are superior to us deut evolution for global

superior to us deut evolution for global

superior to us deut evolution for global navigation like migrating birds and

navigation like migrating birds and

navigation like migrating birds and animals in the sea so this particular

animals in the sea so this particular

animals in the sea so this particular bird was able to navigate to africa and

bird was able to navigate to africa and

bird was able to navigate to africa and back again to exactly the same nest as

back again to exactly the same nest as

back again to exactly the same nest as it left 297 days earlier in loon we

it left 297 days earlier in loon we

it left 297 days earlier in loon we actually computed this path based on

actually computed this path based on

actually computed this path based on detection on sunrises and sunsets from

detection on sunrises and sunsets from

detection on sunrises and sunsets from the little device on the back on the

the little device on the back on the

the little device on the back on the board so human evolution was not aimed

board so human evolution was not aimed

board so human evolution was not aimed for globalization while some animals

for globalization while some animals

for globalization while some animals actually rolled this ability but we are

actually rolled this ability but we are

actually rolled this ability but we are inventive to foresee the future we need

inventive to foresee the future we need

inventive to foresee the future we need to look at the history so the enzian

to look at the history so the enzian

to look at the history so the enzian saleman sailors relied on known

saleman sailors relied on known

saleman sailors relied on known landmarks things as the Northern Star

landmarks things as the Northern Star

landmarks things as the Northern Star relates to your heading and also

relates to your heading and also

relates to your heading and also latitude the Moon and Sun related time

latitude the Moon and Sun related time

latitude the Moon and Sun related time and all the latitude a known landmarks

and all the latitude a known landmarks

and all the latitude a known landmarks were used for navigating close the land

were used for navigating close the land

were used for navigating close the land comparing to a map and the lighthouses

comparing to a map and the lighthouses

comparing to a map and the lighthouses introduced new landmarks that were easy

introduced new landmarks that were easy

introduced new landmarks that were easy to recognize in distance and in darkness

to recognize in distance and in darkness

to recognize in distance and in darkness and the light also define the precise

and the light also define the precise

and the light also define the precise headway the inventive sailors also

headway the inventive sailors also

headway the inventive sailors also located new tools for navigation so maps

located new tools for navigation so maps

located new tools for navigation so maps have been around for a long time of

have been around for a long time of

have been around for a long time of course but the invention rate sextant

course but the invention rate sextant

course but the invention rate sextant introduced a way to measure angle

introduced a way to measure angle

introduced a way to measure angle differences very accurately so for

differences very accurately so for

differences very accurately so for instance that you have the horizon here

instance that you have the horizon here

instance that you have the horizon here and the northern star here that angle

and the northern star here that angle

and the northern star here that angle defines your latitude and if you see the

defines your latitude and if you see the

defines your latitude and if you see the moon and the northwest dog that angle

moon and the northwest dog that angle

moon and the northwest dog that angle difference gives you a local time and

difference gives you a local time and

difference gives you a local time and time is of course a very important

time is of course a very important

time is of course a very important concept for navigation for instance if

concept for navigation for instance if

concept for navigation for instance if you see the Sun at the highest position

you see the Sun at the highest position

you see the Sun at the highest position is V die twelve o’clock so you know

is V die twelve o’clock so you know

is V die twelve o’clock so you know local time but you need gain which time

local time but you need gain which time

local time but you need gain which time to conclude your longitude

to conclude your longitude

to conclude your longitude the first generation of clocks used for

the first generation of clocks used for

the first generation of clocks used for sailors it gave a drift of tens of

sailors it gave a drift of tens of

sailors it gave a drift of tens of kilometers every day in longitude but

kilometers every day in longitude but

kilometers every day in longitude but due to an invention in the mid 18th

due to an invention in the mid 18th

due to an invention in the mid 18th century the lift was get used to

century the lift was get used to

century the lift was get used to drastically and when James Cook to sail

drastically and when James Cook to sail

drastically and when James Cook to sail around the globe the final accumulated

around the globe the final accumulated

around the globe the final accumulated arrow was less than 10 kilometers there

arrow was less than 10 kilometers there

arrow was less than 10 kilometers there are basically three different

are basically three different

are basically three different mathematical concepts for navigation the

mathematical concepts for navigation the

mathematical concepts for navigation the first is the angulation that is to

first is the angulation that is to

first is the angulation that is to compute intersection of two or more

compute intersection of two or more

compute intersection of two or more lines that can be burying stolen marks

lines that can be burying stolen marks

lines that can be burying stolen marks we have a peal activation which is to

we have a peal activation which is to

we have a peal activation which is to compute intersection of two or more

compute intersection of two or more

compute intersection of two or more circles which can be the distance to two

circles which can be the distance to two

circles which can be the distance to two landmarks multilateration is more

landmarks multilateration is more

landmarks multilateration is more complicated but suppose that you have to

complicated but suppose that you have to

complicated but suppose that you have to distance differences that constrains

distance differences that constrains

distance differences that constrains your position to be on a hyperbolic

your position to be on a hyperbolic

your position to be on a hyperbolic function and with two such distance

function and with two such distance

function and with two such distance differences to learn marks you can

differences to learn marks you can

differences to learn marks you can compute intersection of two hyperbolic

compute intersection of two hyperbolic

compute intersection of two hyperbolic functions to deduce your position the

functions to deduce your position the

functions to deduce your position the ancient sailors used the calipers and

ancient sailors used the calipers and

ancient sailors used the calipers and rulers to solve these problems

rulers to solve these problems

rulers to solve these problems pneumatically on the map computers do it

pneumatically on the map computers do it

pneumatically on the map computers do it today very efficiently computers can for

today very efficiently computers can for

today very efficiently computers can for instance use multiple gadget inspectors

instance use multiple gadget inspectors

instance use multiple gadget inspectors for this task so for instance you can

for this task so for instance you can

for this task so for instance you can use directional antennas to compute the

use directional antennas to compute the

use directional antennas to compute the angle the death inspector you can use

angle the death inspector you can use

angle the death inspector you can use time of light or signal strength to

time of light or signal strength to

time of light or signal strength to compute the distance to the swifter and

compute the distance to the swifter and

compute the distance to the swifter and apply the alliteration or you can use

apply the alliteration or you can use

apply the alliteration or you can use the time difference out to seeing less

the time difference out to seeing less

the time difference out to seeing less on 22 synchronized trance victors to

on 22 synchronized trance victors to

on 22 synchronized trance victors to constrain the position 2 hyperbolic

constrain the position 2 hyperbolic

constrain the position 2 hyperbolic function basic principles used very

function basic principles used very

function basic principles used very often today the principal invisible all

often today the principal invisible all

often today the principal invisible all our navigation tools at land at sea and

our navigation tools at land at sea and

our navigation tools at land at sea and in the air rely on satellite navigation

in the air rely on satellite navigation

in the air rely on satellite navigation it is based on multilateration

it is based on multilateration

it is based on multilateration pairing signals from satellites when

pairing signals from satellites when

pairing signals from satellites when they regard to our devices GPS has been

they regard to our devices GPS has been

they regard to our devices GPS has been around for a couple of decades you can

around for a couple of decades you can

around for a couple of decades you can find them in almost all of our vehicles

find them in almost all of our vehicles

find them in almost all of our vehicles devices and gadgets but unfortunately

devices and gadgets but unfortunately

devices and gadgets but unfortunately GPS has no gundalian see that is if DPS

GPS has no gundalian see that is if DPS

GPS has no gundalian see that is if DPS fails for one reason or another there is

fails for one reason or another there is

fails for one reason or another there is no backup to take over obviously GPS

no backup to take over obviously GPS

no backup to take over obviously GPS does not work indoors or underground but

does not work indoors or underground but

does not work indoors or underground but they’re all the situation outdoors when

they’re all the situation outdoors when

they’re all the situation outdoors when it fails we have this called Manhattan

it fails we have this called Manhattan

it fails we have this called Manhattan problem where high buildings reflect the

problem where high buildings reflect the

problem where high buildings reflect the radio signals that gives you outliers

radio signals that gives you outliers

radio signals that gives you outliers and the bed positions I visited

and the bed positions I visited

and the bed positions I visited Manhattan lost somewhere and tested

Manhattan lost somewhere and tested

Manhattan lost somewhere and tested myself and the work I did in one hour

myself and the work I did in one hour

myself and the work I did in one hour was not reflected by the FPS at all and

was not reflected by the FPS at all and

was not reflected by the FPS at all and I did certainly not walk 30 kilometers

I did certainly not walk 30 kilometers

I did certainly not walk 30 kilometers in one hour as indicated here some five

in one hour as indicated here some five

in one hour as indicated here some five years ago google introduced its position

years ago google introduced its position

years ago google introduced its position service it’s based on redundancy just

service it’s based on redundancy just

service it’s based on redundancy just like the human sensing system at first

like the human sensing system at first

like the human sensing system at first hand it uses GPS we’re never available

hand it uses GPS we’re never available

hand it uses GPS we’re never available second hand it uses the closest Wi-Fi

second hand it uses the closest Wi-Fi

second hand it uses the closest Wi-Fi access point that exists in its database

access point that exists in its database

access point that exists in its database that is used as a landmark in third hand

that is used as a landmark in third hand

that is used as a landmark in third hand it applies triangulation based on Cena’s

it applies triangulation based on Cena’s

it applies triangulation based on Cena’s things from the cellular system so this

things from the cellular system so this

things from the cellular system so this is an excellent example of fusion of

is an excellent example of fusion of

is an excellent example of fusion of different principles using redundancy

different principles using redundancy

different principles using redundancy and it also brings us to the future of

and it also brings us to the future of

and it also brings us to the future of positioning systems so to get a dundon

positioning systems so to get a dundon

positioning systems so to get a dundon see that provides position anywhere and

see that provides position anywhere and

see that provides position anywhere and anytime we need to use many informations

anytime we need to use many informations

anytime we need to use many informations forces combined according to the sensor

forces combined according to the sensor

forces combined according to the sensor fusion principle so we can for instance

fusion principle so we can for instance

fusion principle so we can for instance have a radio transmitters including GPS

have a radio transmitters including GPS

have a radio transmitters including GPS that provides an estimator of absolute

that provides an estimator of absolute

that provides an estimator of absolute position we have inertial measurements

position we have inertial measurements

position we have inertial measurements we making you

we making you

we making you inner ear but can be used for dead

inner ear but can be used for dead

inner ear but can be used for dead reckoning between the landmarks we have

reckoning between the landmarks we have

reckoning between the landmarks we have maps and landmark databases to provide

maps and landmark databases to provide

maps and landmark databases to provide the context of the surroundings and we

the context of the surroundings and we

the context of the surroundings and we have sensors for situational awareness

have sensors for situational awareness

have sensors for situational awareness to make a local map for local navigation

to make a local map for local navigation

to make a local map for local navigation all this information has to be combined

all this information has to be combined

all this information has to be combined today we have seen a spectacular

today we have seen a spectacular

today we have seen a spectacular demonstration of autonomous vehicles we

demonstration of autonomous vehicles we

demonstration of autonomous vehicles we have seen demonstration platforms with

have seen demonstration platforms with

have seen demonstration platforms with multiple antennas for DPS providing

multiple antennas for DPS providing

multiple antennas for DPS providing exact orientation of the vehicle we have

exact orientation of the vehicle we have

exact orientation of the vehicle we have yarn base stations providing a

yarn base stations providing a

yarn base stations providing a centimeter resolution of position and

centimeter resolution of position and

centimeter resolution of position and etc we have seen the Google car and

etc we have seen the Google car and

etc we have seen the Google car and Tesla’s diving for long distances out

Tesla’s diving for long distances out

Tesla’s diving for long distances out enormously using short-range sensors

enormously using short-range sensors

enormously using short-range sensors such as grader cameras and laser scanner

such as grader cameras and laser scanner

such as grader cameras and laser scanner but we still have a long way to go to

but we still have a long way to go to

but we still have a long way to go to get a positioning solution that works

get a positioning solution that works

get a positioning solution that works anywhere at any time I was smart for

anywhere at any time I was smart for

anywhere at any time I was smart for today I have a variety of sensor

today I have a variety of sensor

today I have a variety of sensor modalities and smart positioning systems

modalities and smart positioning systems

modalities and smart positioning systems are coming in our smartphones but extend

are coming in our smartphones but extend

are coming in our smartphones but extend the Google solutions with the new

the Google solutions with the new

the Google solutions with the new modalities and the new information

modalities and the new information

modalities and the new information sources so using all these information

sources so using all these information

sources so using all these information needs a framework for how to teach a

needs a framework for how to teach a

needs a framework for how to teach a computer to navigate and compute the

computer to navigate and compute the

computer to navigate and compute the position the mathematical concepts of

position the mathematical concepts of

position the mathematical concepts of triangulation etc are still very

triangulation etc are still very

triangulation etc are still very relevant but we need a context that we

relevant but we need a context that we

relevant but we need a context that we need a framework for how to fuse all

need a framework for how to fuse all

need a framework for how to fuse all this information and what you see here

this information and what you see here

this information and what you see here is maybe my most famous equation yeah

is maybe my most famous equation yeah

is maybe my most famous equation yeah some of you are seen it before it has

some of you are seen it before it has

some of you are seen it before it has been used by thousands of searches for

been used by thousands of searches for

been used by thousands of searches for positioning applications and we have

positioning applications and we have

positioning applications and we have used it in several applications as well

used it in several applications as well

used it in several applications as well so let me show you some domain specific

so let me show you some domain specific

so let me show you some domain specific solutions we have encountered in our

solutions we have encountered in our

solutions we have encountered in our research first one yeah finding your way

research first one yeah finding your way

research first one yeah finding your way in a shopping mall can be a nightmare

in a shopping mall can be a nightmare

in a shopping mall can be a nightmare you will know that certainly

you will know that certainly

you will know that certainly but you can get a blue dot on your map

but you can get a blue dot on your map

but you can get a blue dot on your map by combining sense of fusion of Wi-Fi

by combining sense of fusion of Wi-Fi

by combining sense of fusion of Wi-Fi access points Bluetooth beacons and

access points Bluetooth beacons and

access points Bluetooth beacons and inertial measurements in your phone for

inertial measurements in your phone for

inertial measurements in your phone for dead reckoning and get exact tech to you

dead reckoning and get exact tech to you

dead reckoning and get exact tech to you have you move inside the shopping mall

have you move inside the shopping mall

have you move inside the shopping mall and the solution we developed has been

and the solution we developed has been

and the solution we developed has been used in hundreds of shopping malls

used in hundreds of shopping malls

used in hundreds of shopping malls around the world including one at

around the world including one at

around the world including one at Manhattan what you see here is a replay

Manhattan what you see here is a replay

Manhattan what you see here is a replay on when certain bullbar won the world

on when certain bullbar won the world

on when certain bullbar won the world championship in sprint orienteering in

championship in sprint orienteering in

championship in sprint orienteering in Venice a couple of years ago so the gate

Venice a couple of years ago so the gate

Venice a couple of years ago so the gate line here is what is billed costed live

line here is what is billed costed live

line here is what is billed costed live it’s based on the GPS on his body the

it’s based on the GPS on his body the

it’s based on the GPS on his body the blue line is what was annotated by so a

blue line is what was annotated by so a

blue line is what was annotated by so a bull bath after the race and it can be

bull bath after the race and it can be

bull bath after the race and it can be seen as a young truth that was the way

seen as a young truth that was the way

seen as a young truth that was the way he actually ran and the headline and the

he actually ran and the headline and the

he actually ran and the headline and the blue line deviates Venice is not

blue line deviates Venice is not

blue line deviates Venice is not Manhattan but still high buildings

Manhattan but still high buildings

Manhattan but still high buildings reflecting the DPS radio signals the

reflecting the DPS radio signals the

reflecting the DPS radio signals the gain line comes from a sensor fusion

gain line comes from a sensor fusion

gain line comes from a sensor fusion algorithm my student implemented that

algorithm my student implemented that

algorithm my student implemented that uses information from GPS and the map

uses information from GPS and the map

uses information from GPS and the map only and it gives the feasible territory

only and it gives the feasible territory

only and it gives the feasible territory very close to the young truth and much

very close to the young truth and much

very close to the young truth and much more worth looking at than the what is

more worth looking at than the what is

more worth looking at than the what is broadcasted today next example shows how

broadcasted today next example shows how

broadcasted today next example shows how a telephone installed on a drone can be

a telephone installed on a drone can be

a telephone installed on a drone can be used to find another telephone hidden on

used to find another telephone hidden on

used to find another telephone hidden on the ground why yeah the application can

the ground why yeah the application can

the ground why yeah the application can be to find a missing person or a victim

be to find a missing person or a victim

be to find a missing person or a victim from an avalanche or earthquake assuming

from an avalanche or earthquake assuming

from an avalanche or earthquake assuming that the telephone is still in operation

that the telephone is still in operation

that the telephone is still in operation so by using the principle of the

so by using the principle of the

so by using the principle of the litigation of signal strength

litigation of signal strength

litigation of signal strength measurements on the phone on the drone

measurements on the phone on the drone

measurements on the phone on the drone the update was able to locate the hidden

the update was able to locate the hidden

the update was able to locate the hidden phone with a few meters accuracy in less

phone with a few meters accuracy in less

phone with a few meters accuracy in less than one minute so those can be a great

than one minute so those can be a great

than one minute so those can be a great help for localization on the ground and

help for localization on the ground and

help for localization on the ground and the next example shows how the thermal

the next example shows how the thermal

the next example shows how the thermal camera can extend the human vision with

camera can extend the human vision with

camera can extend the human vision with the temperature scale and that can be

the temperature scale and that can be

the temperature scale and that can be used for monitoring animals on the

used for monitoring animals on the

used for monitoring animals on the savanna like here

savanna like here

savanna like here but also defined hidden persons in the

but also defined hidden persons in the

but also defined hidden persons in the forest which we actually have here and

forest which we actually have here and

forest which we actually have here and the application can be to save

the application can be to save

the application can be to save endangered animals and protect them from

endangered animals and protect them from

endangered animals and protect them from poaching so to conclude there is no

poaching so to conclude there is no

poaching so to conclude there is no super sensor for positioning

super sensor for positioning

super sensor for positioning unfortunately GPS is state-of-the-art

unfortunately GPS is state-of-the-art

unfortunately GPS is state-of-the-art it’s a universal tool today it is good

it’s a universal tool today it is good

it’s a universal tool today it is good enough for our dog infotainment

enough for our dog infotainment

enough for our dog infotainment applications but the solution that

applications but the solution that

applications but the solution that provides your position in the time and n

provides your position in the time and n

provides your position in the time and n work requires a domain-specific

work requires a domain-specific

work requires a domain-specific combination of sensors and prior

combination of sensors and prior

combination of sensors and prior knowledge and models and maps i showed

knowledge and models and maps i showed

knowledge and models and maps i showed you solutions how to find your way in a

you solutions how to find your way in a

you solutions how to find your way in a shopping mall improve dps in urban areas

shopping mall improve dps in urban areas

shopping mall improve dps in urban areas monitor animals and locate missing

monitor animals and locate missing

monitor animals and locate missing people but there are thousands of other

people but there are thousands of other

people but there are thousands of other applications out there we have a steady

applications out there we have a steady

applications out there we have a steady stream of new application arising all

stream of new application arising all

stream of new application arising all the time the basic principles on

the time the basic principles on

the time the basic principles on navigation will be the same but the

navigation will be the same but the

navigation will be the same but the challenging challenges for the inventive

challenging challenges for the inventive

challenging challenges for the inventive human Explorer will continue from phone

human Explorer will continue from phone

human Explorer will continue from phone to do and further thank you

to do and further thank you

to do and further thank you [Applause]

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