What is OpenHPS?

An Open Source Hybrid Positioning System

What is OpenHPS?

An Open Source Hybrid Positioning System

• Any technology
• Any algorithm
• Various use cases
• Flexible processing and output
  • Accuracy over battery consumption, reliability, ...
• Aimed towards
  • Developers
  • Researchers

Process Network Design

Process Network Design ...

Process Network Design ...

Modularity

Modularity ...

Communication
Socket, MQTT, REST API, ...

Data Storage
MongoDB, LocalStorage, RDF, ...

Positioning Algorithms
IMU, fingerprinting, OpenVSLAM, ...

Abstractions
Geospatial, location-based services, geojson, ...

Other
React-Native, NativeScript, Sphero, ...

Data Processing

DataObject

Absolute and Relative Positions

Absolute

• 2D, 3D, Geographical, ...

Relative

• Distance, angle, velocity, ...
• Relative to another object

ReferenceSpace

An absolute position can be relative to a reference space.

DataFrame

DataFrame ...

Pushing Data

DataFrame ...

Pulling Data

DataFrame ...

Pushing Error

SymbolicSpace

An object that semantically defines a space

• Spatial hierarchy
• Graph connectivity with other spaces
• Geocoding
• GeoJSON compatibility
• Can be used as a location
• Can be extended ...

SymbolicSpace ...

ts
const building = new Building("PL9")
    .setBounds({
        topLeft: new GeographicalPosition(
                50.8203, 
                4.3922),
        width: 46.275, 
        height: 37.27, 
        rotation: -34.04
    });
const floor = new Floor("PL9.3")
    .setBuilding(building)
    .setFloorNumber(3);
const office = new Room("PL9.3.58")
    .setFloor(floor)
    .setBounds([
        new Absolute2DPosition(4.75, 31.25),
        new Absolute2DPosition(8.35, 37.02),
    ]);

Location-based Service

Location-based Service ...

Location-based Service ...

Demonstration

• Indoor positioning use case
• Use existing techniques
• Validation of flexibility and modularity

Positioning Model

Positioning Model ...

Positioning Model ...

Positioning Model ...

Positioning Model ...

Positioning Model

Online App

Positioning Model

Online App

ts
ModelBuilder.create()
    .addShape(GraphBuilder.create()
        .from(new IMUSourceNode({
            source: new DataObject(phoneUID),
            interval: 20,
            sensors: [
                SensorType.ACCELEROMETER, 
                SensorType.ORIENTATION
            ]
        }))
        .via(new SMAFilterNode(
            frame => [frame, "acceleration"], 
            { taps: 10 }
        ))
        .via(new GravityProcessingNode({
            method: GravityProcessingMethod.ABSOLUTE_ORIENTATION
        }))
        .via(new PedometerProcessingNode({
            minConsecutiveSteps: 1, 
            stepSize: 0.40
        }))
        .via(new VelocityProcessingNode())
        .to("pedometer-output"))
    .build();

Dataset

Dataset ...

Total BLE Beacons: 11
Total detected WLAN access points: 220
Total stable WLAN access points: 199

Validation Results

Static Positioning

Validation Results ...

Trajectories

Validation Results ...

Trajectories