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

    研究成果: Conference contribution

    5 被引用数 (Scopus)

    抄録

    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.

    本文言語English
    ホスト出版物のタイトル2016 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2016
    出版社Institute of Electrical and Electronics Engineers Inc.
    ISBN(電子版)9781509024254
    DOI
    出版ステータスPublished - 2016 11 14
    イベント2016 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2016 - Madrid, Spain
    継続期間: 2016 10 42016 10 7

    Other

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

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Control and Optimization
    • Instrumentation

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