A combined approach of Doppler and carrier-based hyperbolic positioning with a multi-channel GPS-pseudolite for indoor localization of robots

Kenjiro Fujii, Ryosuke Yonezawa, Yoshihiro Sakamoto, Alexander Schmitz, Shigeki Sugano

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    2 Citations (Scopus)

    Abstract

    A combined method of Doppler positioning and carrier-based hyperbolic positioning with a multi-channel GPS-pseudolite is proposed for indoor localization. This method uses carrier-phase output from a GPS/pseudolite receiver. The carrier-phase observable is precise but does not provide range information between the pseudolite and receiver antennas necessary for position calculation. This is because of the existence of carrier ambiguity. This problem can be solved by using the proposed combined method. In the present work, the positioning theory is established and experimentally evaluated with actual devices including a robot. The experimental result shows that a positioning accuracy of more than 10 cm is achievable.

    Original languageEnglish
    Title of host publication2016 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2016
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    ISBN (Electronic)9781509024254
    DOIs
    Publication statusPublished - 2016 Nov 14
    Event2016 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2016 - Madrid, Spain
    Duration: 2016 Oct 42016 Oct 7

    Other

    Other2016 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2016
    CountrySpain
    CityMadrid
    Period16/10/416/10/7

    Fingerprint

    Doppler
    robots
    positioning
    Positioning
    Global positioning system
    Robot
    Robots
    Combined Method
    Receiver
    receivers
    Antennas
    ambiguity
    Antenna
    antennas
    Necessary
    output
    Output
    Experimental Results
    Range of data

    Keywords

    • GPS
    • Hyperbolic positioning
    • Indoor positioning
    • Pseudolite

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Control and Optimization
    • Instrumentation

    Cite this

    Fujii, K., Yonezawa, R., Sakamoto, Y., Schmitz, A., & Sugano, S. (2016). A combined approach of Doppler and carrier-based hyperbolic positioning with a multi-channel GPS-pseudolite for indoor localization of robots. In 2016 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2016 [7743668] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IPIN.2016.7743668

    A combined approach of Doppler and carrier-based hyperbolic positioning with a multi-channel GPS-pseudolite for indoor localization of robots. / Fujii, Kenjiro; Yonezawa, Ryosuke; Sakamoto, Yoshihiro; Schmitz, Alexander; Sugano, Shigeki.

    2016 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2016. Institute of Electrical and Electronics Engineers Inc., 2016. 7743668.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Fujii, K, Yonezawa, R, Sakamoto, Y, Schmitz, A & Sugano, S 2016, A combined approach of Doppler and carrier-based hyperbolic positioning with a multi-channel GPS-pseudolite for indoor localization of robots. in 2016 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2016., 7743668, Institute of Electrical and Electronics Engineers Inc., 2016 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2016, Madrid, Spain, 16/10/4. https://doi.org/10.1109/IPIN.2016.7743668
    Fujii K, Yonezawa R, Sakamoto Y, Schmitz A, Sugano S. A combined approach of Doppler and carrier-based hyperbolic positioning with a multi-channel GPS-pseudolite for indoor localization of robots. In 2016 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2016. Institute of Electrical and Electronics Engineers Inc. 2016. 7743668 https://doi.org/10.1109/IPIN.2016.7743668
    Fujii, Kenjiro ; Yonezawa, Ryosuke ; Sakamoto, Yoshihiro ; Schmitz, Alexander ; Sugano, Shigeki. / A combined approach of Doppler and carrier-based hyperbolic positioning with a multi-channel GPS-pseudolite for indoor localization of robots. 2016 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2016. Institute of Electrical and Electronics Engineers Inc., 2016.
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    abstract = "A combined method of Doppler positioning and carrier-based hyperbolic positioning with a multi-channel GPS-pseudolite is proposed for indoor localization. This method uses carrier-phase output from a GPS/pseudolite receiver. The carrier-phase observable is precise but does not provide range information between the pseudolite and receiver antennas necessary for position calculation. This is because of the existence of carrier ambiguity. This problem can be solved by using the proposed combined method. In the present work, the positioning theory is established and experimentally evaluated with actual devices including a robot. The experimental result shows that a positioning accuracy of more than 10 cm is achievable.",
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