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TI-Track: Direction Finding Using Angle of Arrival

website·Indexed 29 days ago

https://ti-track.netlify.app/

Documentation for a Real-Time Location System (RTLS) built on the Bluetooth 5.1 stack using the BOOSTXL-AOA Angle of Arrival BoosterPack™. Includes hardware setup guides, RTLS Agent configuration, and measurement analysis for single, double, and triple antenna arrays in indoor and outdoor environments.

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What's inside TI-Track

  1. Overview of the Angle of Arrival BoosterPack (BOOSTXL-AOA)

    The BOOSTXL-AOA is a plug-in module designed for evaluating Angle of Arrival (AoA) applications. It uses two orthogonal antenna arrays, each containing three 2.4 GHz dipole antennas. The module uses RF switches to select antennas and connects to an AoA-compatible RF receiver (such as the CC2640R2 LaunchPad) via a JSC RF connector. It is used to extract signal direction information through a combination of antenna switching and TI-developed algorithms.

  2. Overview of BSc Electrical and Information Technology program

    The BSc Electrical and Information Technology program focuses on providing sound basic knowledge supplemented by laboratory experiments and interdisciplinary, practice-oriented student projects. Project scopes range from microelectronics (e.g., digital effect devices for guitarists) to electrical engineering (e.g., kite-based power generation).

  3. Overview of Bluetooth 5.1 Direction Finding capabilities

    Bluetooth Core Specification version 5.1 introduced optional radio direction finding to enable centimeter-precise positioning, improving upon older methods that relied solely on Received Signal Strength Indication (RSSI) triangulation. Direction finding is achieved via antenna arrays using two primary methods: Angle of Arrival (AoA) and Angle of Departure (AoD).

  4. Overview of the Angle of Arrival BoosterPack™ (BOOSTXL-AOA)

    The BOOSTXL-AOA is a plug-in module designed for evaluating Angle of Arrival (AoA) applications. It features two orthogonal antenna arrays, each containing three 2.4 GHz dipole antennas. The board uses RF switches to select antennas and connects to an AoA-compatible RF receiver (such as the CC2640R2 LaunchPad™) via a JSC RF connector. It is used in conjunction with TI software techniques and algorithms to calculate the angle of arrival of received signals.

  5. Understand AoA measurement limitations in office environments

    Angle of Arrival (AoA) systems may produce inaccurate measurements in office spaces due to signal reflections from walls and furniture, as well as interference from other wireless signals. These environments are typically used to demonstrate how reflections and interference influence results rather than to determine the absolute accuracy of antenna arrays.

  6. Understand Bluetooth Angle of Arrival (AoA) Direction Finding

    Angle of Arrival (AoA) is a direction-finding method introduced as an optional capability in the Bluetooth 5.1 Core Specification. In this method, a transmitting device (e.g., a tag in a Real-Time Location System/RTLS) sends a signal using a single antenna. A receiving device (e.g., a locator) equipped with an antenna array captures the signal. The receiver determines the direction of the transmitter by measuring the signal phase difference caused by the varying distances between the transmitting antenna and each antenna in the receiver's array.

  7. Use the RTLS Agent to connect and evaluate RTLS nodes

    The RTLS Agent is a Python application that acts as a Node Manager to connect RTLS Master, Slave, and Passive nodes via a serial interface. It is used to establish connections between nodes and evaluate measurement results, specifically processing Continuous Connection Information (CCI) and Angle of Arrival (AoA) data. Following measurements, the agent exports logs to CSV files for detailed analysis.

  8. Bachelor Thesis requirements and process

    The Bachelor Thesis serves as a transition into professional life and may involve hardware/software development, simulation, or calculation. The process includes a preliminary project (a six-month proof of concept to check feasibility and acquire knowledge) followed by the main thesis.

    Key deliverables and requirements include:

    • Topic familiarization and project clarification (specification sheet and project plan).
    • Implementation phase demonstrating engineering and result-oriented approaches.
    • Project management (milestone tracking, customer/supervisor communication, and controlling).
    • Documentation via report, poster, and website.
    • Poster exhibition and oral defense.

  9. About FHNW University of Applied Sciences and Arts

    FHNW is a leading Swiss university of applied sciences and arts with a fourfold mandate: education/training, applied research and development, continuing education, and services to third parties. It offers 29 bachelor's and 17 master's degree programmes.

  10. Setup a single antenna array indoor test

    To evaluate the variance and inaccuracy of a single antenna array indoors, use the following setup:

    • Hardware: RTLS Passive (antenna array), RTLS Slave, and RTLS Master.
    • Placement: Position the RTLS Passive and RTLS Slave at table height (approximately 76 cm above the floor).
    • Distance: Maintain a consistent distance of 2.4 meters between the antenna array and the slave unit.
    • Orientation: Rotate the antenna array between -100° and 100°, where 0° is pointing directly at the slave unit.
    • Data Collection: Record values for 5 minutes per angle to filter out faulty measurements and calculate a reliable mean value.

  11. Evaluate positioning accuracy with a Double Antenna Array setup

    A positioning system requires at least two antenna arrays to calculate an intersection point and determine a position. In a test setup with two antenna arrays and a slave module placed at heights of 76cm and distances of 4m, 6m, and 8m, the following observations regarding accuracy were made:

    • Distance Impact: Measurement accuracy decreases as distance increases. For example, scattering is approximately 2m at a distance of 4m, increasing to approximately 4m at a distance of 6m.
    • Angular Accuracy: Measurements are most accurate at ±45° relative to the antenna array, whereas accuracy is lower at 0° or ±90°.
    • Alignment Errors: Deviations between theoretical and measured positions often result from antenna arrays being aligned by eye. This measurement offset can be mitigated by implementing a calibration function in the measuring system.

  12. Improve position accuracy using a Triple Antenna Array setup

    To counteract the decrease in angle measurement accuracy that occurs as distance increases, a triple antenna array configuration can be used. By placing antenna arrays on opposite sides of the target (slave module), inaccurate measurement values can be filtered out and overall position accuracy increased. The most accurate angle evaluations typically occur at approximately ±45°.