IMES: Indoor GPS for Seamless Positioning Services · IMES: Indoor GPS for Seamless ... Softbank...

© Hitachi Industrial Equipment Systems Co.,Ltd. 2013. All rights reserved.

2013/08/22

Hitachi Industrial Equipment Systems Co.,Ltd

Recent Trends in IMES Technologies

IMES: Indoor GPS for Seamless Positioning Services

※IMES：Indoor Messaging System

© Hitachi Industrial Equipment Systems Co.,Ltd 2013. All rights reserved.

Contents１．Introduction of IMES

３．Registration System of IMES Transmitters

４．Synergy of IMES with Conventional Techniques

２．R&D Trends


１Introduction of IMES


Indoor Messaging System （IMES）１-１．

■ Seamless positioning is available by receiving GPS-compatible signals from IMES transmitter.

■ Location information (lat., long., floor etc.) can be obtained in buildings.

■ Conventional GPS receiver receives IMES signals with only a firmware update.

Outdoor Indoor

ＧＰＳ satellites

IMES transmitter

Positioning calculation（calculate（x, y, z））

Zone detection（receiving （lat., long., floor））

Seamless GPS positioning using same GPS receiver

QZS

※ IMES positioning method was invented by JAXA from the development framework of “QZS” launched Sept. 2013. JAXA took out permission to use 10PRN code of 10 years for IMES from USA in Jul. 2011. And then IMES was made available in Japan only. (“IMES consortium” was got up as the diffusion organization of IMES in Jun. 2007)

※ JAXA and private companies have the right of IMES positioning. IMES consortium is considering the methods for utilization of right use.※ IMES positioning is classified with low radio wave on the radio regulations. (in Japan only)※ Need to standardize IMES on the radio regulations, apply for using PRN code to American GPSD and receive authorization when IMES is used overseas.

Transmission rangeRadius 10m～15m

3

Underground mall


Difference between GPS and IMES

4

１-２．

【Reference】http://www.tele.soumu.go.jp/e/ref/material/rule/index.htm

IMES transmitter uses license-freelow-power radio signals.

JAXA published new specificon 27th Mar. 2013

IS-QZSS : Interface Specifications for Quasi-Zenith Satellite SystemBPSK : Binary Phase Shift Keying, CDMA : Code Division Multiple AccessPRN number : Pseudo Random Noise number

GPS L1-C/A

(Except P code)

IMES L1-C/A

(IS-QZSS v.1.5 version)

Carrier frequency 1.57542 GHz1.5754282 GHz

（Backup：1.5754118 GHz）

Data Modulation BPSK

Multiple access CDMA

Spreading modulation Direct spread spectrum

Spreading sign length 1023

Chip rate 1.023 Mcps(C/A code)

PRN number

(Satellite number)1～32 173～182

Transmission power +44 dBm About less than -65 dBm

Bit rate 50 bps 50 or 250 bps （fast）

Word length 30 bit (24 bit + parity 6 bit)

Subframe length 10 word

Frame length 30 subframe 1～4 word

Positioning method Range base Range free


Receiving process of GPS/IMES signal

5

１-３．

(x1, y1, z1)

(x2, y2, z2)

Transmitter 2

Transmitter 1

Base b

and p

rocessin

g p

art

RF p

rocessin

g p

art

GPSpositioningprocessing

part

GPS1

GPS2

GPS3

GPS4

QZS1

IMESmessageanalysis

part

Mid

dle w

are p

art

Positioning result with satellites

(x0, y0, z0)

(x1, y1, z1)+ signal intensity

(x2, y2, z2)+ signal intensity

(x, y, z)

GPS receiver RFIC Positioning processing CPU Application CPU

Applica

tion p

art

Need to add/modify the software


２R&D Trends


R&D Trends

7

２-１．

2012 2013 2014 2015 2016 2017 2018

Quasi-Zenith Satellite System (QZSS)

JAXA

IMESconsortium

IMES receiver

IMESdemonstration experienceevents etc.

Technical demonstration・Social demonstration

Developing 2～4 QZSs 2～4 QZSs launchPractical

use

Operation definition

Technical data

★IS-QZSS Ver.1.5 publication (added 250bps spec)

External parts

Technical demonstration・Social demonstration

IMES practical use（B to C）

Evaluation

Dedicated terminal

Smartphone

Trends in IMES receiver assumed

1 QZS

★The operational management of IMES transmitterpublication・start

★LBJ2013

★Geo spatial EXPO2013

IMES practical use（B to B）


Basic Plan on Space Policy

8

２-２．

(Extract from Basic Plan on Space Policy Establishedby Strategic Headquarters for Space Policy on 25th Jan. 2013 )

IMES is specified in Basic Plan on Space Policy

【Source】 http://www8.cao.go.jp/space/plan/keikaku.html


IMES receiver

9

２-３．

【Source】http://internet.watch.impress.co.jp/docs/column/chizu/20130620_604448.html

■IMES receiver LSI supporting GNSS

【Source】 Sony Corporation news releaseshttp://www.sony.co.jp/SonyInfo/News/Press/201302/13-022/

■IMES terminal

Smartphone jacket type receiver

External type receiver（Bluetooth® built-in）

■IMES supporting smartphone（test production）

【Shooting】International modern Jichi medical university booth


３Registration System of IMES Transmitters


Registration of IMES Transmitter３-１．

GPSD※ allocated L1C/A PRN code (173～182) for IMES, and licensed to JAXA

■ Requirements for license

① In Japan only② Only 10 years（Need to be updated after 2017）③ Don’t affect to GNSS service

For expand overseas, to lift restriction of available country and update length of using is needed

Need to show IMES doesn’t affect GNSS service through propermanagement and operation in Japan

※ GPSD： Global Positioning System Directorate （When it allocated code and licensed, it was Global Positioning System Wing）

【Reference】http://qz-vision.jaxa.jp/USE/is-qzss/UMmaterials/QZSSUM_07(IMES)_03_01.pdfhttp://qz-vision.jaxa.jp/USE/is-qzss/QZSSUM_IMES_03_01.pdf 11


PRN Code Management ３-２．

Prevention of interference because of duplicating PRN code

If different business operators provide IMES service, code duplication can occur between business operators

For IMES diffusion‥

○ Prevent unintended use of IMES transmitter○ Send accurate positional information by IMES transmitter○ Prevent interference with IMES transmitters cased by code duplication○ Manage IMES transmitter’s transmission power

Company A Company B

12

【Reference】http://qz-vision.jaxa.jp/USE/is-qzss/UMmaterials/QZSSUM_07(IMES)_03_01.pdfhttp://qz-vision.jaxa.jp/USE/is-qzss/QZSSUM_IMES_03_01.pdf


Management level of IMES transmitter

No. Control items Ａ type transmitter Ｂ type transmitter Ｃ type transmitter

１ Activation function ○（presence） ○（presence） ×（absence）

２ Deactivation function ○（presence） ×（absence） ×（absence）

３Mounting allocation

Above the ceiling ○ ○

Ceiling ○ △(Install in a way that can’t be removed

easily or inaccessible locations)Wall ○

４ FormBuilt-in lightning fixtures ○ ×

Wall outlet mounting type ○ ×

５ Location confirmation no need 1 or more times/6 months

６ Designated maker absence absence presence

７ Shipping restricted absence absenceShipment accepted only after installation planning

８ Disposal certification no need need

３-３．

■ Activation function：Not to transmit RF signal until the activation process has been implemented by the encrypted code issue by IMES Operation Supervisor

■ Deactivation function：Not to transmit RF signal once the transmitter is removed from the installed place after the its activationNeed the activation process again to resume its operation after the transmitter moved

13【Reference】「IMES transmitter management implementation guidelines (draft)」, Japan Aerospace Exploration Agency


４Synergy of IMES with Conventional Technologies


Improvement of Positioning Accuracy

15

４-１．

IMES transmitter IMES transmitter IMES transmitter IMES transmitter IMES transmitter

Need dense installation of the transmitter for continuous IMES positioning ⇒ Cost increases

Transmission range： Radius 10m～15m⇒ Positioning accuracy is also 10m～15m

IMES positioning accuracy is 10m～15m⇒ Not well-suited for high-accuracy positioning of a few meters


Pedestrian Dead Reckoning （PDR） Positioning

16

４-２．

P0

Ｐ1

Ｖ

Ｐ2

Ｐ3

Ｐ4 Ｐ5

Actual position

Estimated error

Cumulative errorAcceleration sensor： estimate the number of stepsAngular velocity sensor：estimate the relative bearing

■ Just using the sensor in the terminal which person has, estimate the relativeposition continuously

■ Use acceleration sensor and velocity sensor for estimating distance and bearing

Estimated position

Need a mechanism to reset the error regularly

Reference of the absolute coordinates is needed to display the positionin coordinate which were unified by the indoor and outdoor


Linkage with GPS/QZSS＋IMES＋PDR

17

４-３．

Outdoor Indoor

GPS satellites

QZS

Satellitepositioning

PDRpositioning

PDR positioning

IMES transmitter IMES transmitter

Detect outdoor or indoorfrom QZS signal strength

Reset the cumulativeerror by IMES

IMESpositioning

IMESpositioning


ReferenceDemonstration Experiment Examples Using IMES


Demonstration in Abashiri Prison Museum （Fiscal 2011）

19

■ Verify positioning precision and smooth switching of seamless positioning of indoor and outdoor using QZS “Michibiki” and “IMES”Combination of positional information and digital stamp rally function of “Tourist Guide”smartphone app enables explanation of exhibits and facilities within the prison

【Project member】Hokkaido, Abashiri Prison PreservationFoundation, Softbank Mobile, Softbank Telecom, Hokkaido Railway Company, Tokyo University ofAgriculture, Hokkaido Tourism Organization, Satellite Positioning Research and Application Center, IMES Consortium, Hitachi, SONY,

Okhotsk AI Promotion Group

【Source】http://www.pref.hokkaido.lg.jp/ss/jsk/michibiki/231011press.pdf


Demonstration in The Railway Museum （Fiscal 2012）

20

■ The object is to achieve seamless positioning regardless of indoor and outdoor around the station buildings for providing positional information services.Evaluate 3 kinds of positioning technology, GPS, IMES, PDR (Pedestrian Dead Reckoning)in the Rail way Museum

・Oct. 2012～Jan. 2013：Positioning technology evaluation・Feb. 2013：Demonstration for relevant parties

【Project Member】Hokkaido JR Cybernet (Coordinator), JAXA, Keio University,Japan Space Forum, East Japan Marketing & Communications, GNSS Technologies, Generation Create, Open Stance, Hitachi

Legend：BlueBlue：GPS positioningYellowYellow：IMES positioningRedRed：PDR（without correction）GreenGreen：PDR（with correction）

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