Indoor Mapping and Geolocation Enabler: Network Exploration of SOOP and Cooperative SLAM Technology

We propose to develop an enabling technology for indoor mapping and geolocation based on innovative integration of cooperative simultaneous location and mapping (SLAM) and network exploitation of signals of opportunity (SOOP) technology (NEST). The SLAM is an emerging technology that enables a mobile robot (a SLAM agent) placed at an unknown location in an unknown environment to incrementally build a consistent map of this environment while simultaneously determine its location within this map. However, by itself, the SLAM only produces a local map in the mobile agents coordinate frame. Besides, it is a lengthy process for a single SLAM agent to survey a large complex. The use of cooperative SLAM agents not only speeds up the map building process but also enables network exploitation of signals of opportunity for geolocation in GPS-denied environment. In this project, we will consider long-range signals of opportunity such as the field and/or segment sync codes in digital TV transmissions and short-range signals of opportunity such as the beacon frames from IEEE 802.11 WLAN access points. In addition of the design of SOOP receivers, we will focus on the data link transceivers, which will not only allow for coordination of actions and data exchange to local maps fusion but also enable the generation of differential ranges between cooperative agents to a common SOOP source and the estimation of clock offset and relative ranges between the cooperative agents. In Phase I, the proposed concepts will be formulated, analyzed, and simulated in computer for performance prediction and engineering tradeoff. The Phase I approach will be translated into hardware/software prototyping in Phase II for testing and demonstration. BENEFITS: When successful, the proposed research will produce an indoor mapping and geolocation capability in areas where GPS is not available. This will have great potentials in many military, homeland security, search and rescue, and commercial applications alike for positioning and navigation in urban and indoor environments, robotics, and mapping.