GPS-based indoor positioning system with multi-channel pseudolite

Haruhiko Niwa, Kenri Kodaka, Yoshihiro Sakamoto, Masaumi Otake, Seiji Kawaguchi, Kenjirou Fujii, Yuki Kanemori, Shigeki Sugano

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

    17 Citations (Scopus)

    Abstract

    Wabot-House Research Laboratory is working on a project that will enable integrating robots into our everyday life. We believe that a "structured environment" (SE) will be one of most important concepts for this project. An SE generally means that objects near people that have some database or intelligence provide certain information to those people. An SE will also assist robot recognition or movement planning. Now, we focus on a global positioning system (GPS), which is a global SE that gives users or robots their positions whenever and wherever they are outdoors all over the world. GPS will strongly support robot self-positioning. However, GPS has the problem that it cannot be used when the robots are indoors. To solve this problem, we experimentally mounted four pseudolites ('pseudo' means imitated and 'lite' means satellite) in our laboratory and developed indoor GPS. The system worked well unless the robot was near the wall, where cycle slip often occurred. To examine the characteristics and reason for cycle slip, we measured the radio-wave environment in the laboratory. The first half of this paper introduces this system. The last reports results and findings about this experiment.

    Original languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    Pages905-910
    Number of pages6
    DOIs
    Publication statusPublished - 2008
    Event2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA
    Duration: 2008 May 192008 May 23

    Other

    Other2008 IEEE International Conference on Robotics and Automation, ICRA 2008
    CityPasadena, CA
    Period08/5/1908/5/23

    Fingerprint

    Global positioning system
    Robots
    Radio waves
    Research laboratories
    Indoor positioning systems
    Satellites
    Planning
    Experiments

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering

    Cite this

    Niwa, H., Kodaka, K., Sakamoto, Y., Otake, M., Kawaguchi, S., Fujii, K., ... Sugano, S. (2008). GPS-based indoor positioning system with multi-channel pseudolite. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 905-910). [4543320] https://doi.org/10.1109/ROBOT.2008.4543320

    GPS-based indoor positioning system with multi-channel pseudolite. / Niwa, Haruhiko; Kodaka, Kenri; Sakamoto, Yoshihiro; Otake, Masaumi; Kawaguchi, Seiji; Fujii, Kenjirou; Kanemori, Yuki; Sugano, Shigeki.

    Proceedings - IEEE International Conference on Robotics and Automation. 2008. p. 905-910 4543320.

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

    Niwa, H, Kodaka, K, Sakamoto, Y, Otake, M, Kawaguchi, S, Fujii, K, Kanemori, Y & Sugano, S 2008, GPS-based indoor positioning system with multi-channel pseudolite. in Proceedings - IEEE International Conference on Robotics and Automation., 4543320, pp. 905-910, 2008 IEEE International Conference on Robotics and Automation, ICRA 2008, Pasadena, CA, 08/5/19. https://doi.org/10.1109/ROBOT.2008.4543320
    Niwa H, Kodaka K, Sakamoto Y, Otake M, Kawaguchi S, Fujii K et al. GPS-based indoor positioning system with multi-channel pseudolite. In Proceedings - IEEE International Conference on Robotics and Automation. 2008. p. 905-910. 4543320 https://doi.org/10.1109/ROBOT.2008.4543320
    Niwa, Haruhiko ; Kodaka, Kenri ; Sakamoto, Yoshihiro ; Otake, Masaumi ; Kawaguchi, Seiji ; Fujii, Kenjirou ; Kanemori, Yuki ; Sugano, Shigeki. / GPS-based indoor positioning system with multi-channel pseudolite. Proceedings - IEEE International Conference on Robotics and Automation. 2008. pp. 905-910
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