Multiplexing receivers to improve positioning success rate for pseudolite indoor localization

Yoshihiro Sakamoto, Haruhiko Niwa, Takuji Ebinuma, Kenjiro Fujii, Shigeki Sugano

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

7 Citations (Scopus)

Abstract

Carrier phase-based positioning such as RTK-GPS, which has centimeter-level accuracy, is ideal for mobile robot navigation. However, this technology comes with a serious problem called cycle slip, which happens when the receiver fails to track the carrier phase of signals incoming from transmitters. Cycle slip is usually caused by multipath, noise, and many other factors, and when it happens, the number of equations that can be used for position calculation decreases. As this problem arises more frequently in an indoor space, positioning success rate (PSR) tends to be lower indoors. In this paper, we introduced a method that multiplexes receivers for indoor positioning with pseudolites (ground-based GPS transmitters). With this method, positioning becomes more insusceptible to cycle slips, comparing to the use of a single receiver, because of its redundant equations for position calculation. We conducted an experiment to investigate how the number of receivers and transmitters affect PSR and positioning accuracy. The result showed that while PSR gets higher as the number of receivers increases, it does not necessarily rise with the increase of transmitter numbers. It also showed that the increase of transmitter numbers deteriorates the positioning accuracy.

Original languageEnglish
Title of host publicationISMA'10 - 7th International Symposium on Mechatronics and its Applications
Publication statusPublished - 2010 Jul 16
Event7th International Symposium on Mechatronics and its Applications, ISMA'10 - Sharjah, United Arab Emirates
Duration: 2010 Apr 202010 Apr 22

Publication series

NameISMA'10 - 7th International Symposium on Mechatronics and its Applications

Conference

Conference7th International Symposium on Mechatronics and its Applications, ISMA'10
CountryUnited Arab Emirates
CitySharjah
Period10/4/2010/4/22

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering

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