Doppler positioning with orientation estimation by using multiple transmitters for high-accuracy IMES localization

Yoshihiro Sakamoto, Takuji Ebinuma, Kenjiro Fujii, Shigeki Sugano

研究成果: Conference contribution

4 被引用数 (Scopus)

抄録

A Doppler positioning method with orientation estimation for an indoor messaging system (IMES) is proposed. With this method, both position and orientation of a receiver are estimated simultaneously by using Doppler shifts produced by moving a receiver antenna under the use of two or more IMES transmitters. The proposed method is evaluated through an experiment in which the interval of two transmitters is varied. The results of the experiment demonstrate that centimeter- to decimeter-level positioning accuracy and orientation-estimation accuracy of ±3 degrees are achieved; these results were largely consistent with the theoretical values calculated from dilution of precision. In addition, magnetic-compass error indoors was experimentally investigated; the results show that a magnetic-compass is a large error source if it is used indoors. Lastly, which initial values of a nonlinear least-square used for the proposed method converge to appropriate position and orientation solutions is analyzed; the results of the analysis suggest that if an initial position is set to the midmost of two transmitters, a proper solution is obtained except in the case that initial orientation is 180 degrees opposite from the correct orientation.

本文言語English
ホスト出版物のタイトル2012 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2012 - Conference Proceedings
DOI
出版ステータスPublished - 2012 12 1
イベント2012 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2012 - Sydney, NSW, Australia
継続期間: 2012 11 132012 11 15

出版物シリーズ

名前2012 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2012 - Conference Proceedings

Conference

Conference2012 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2012
CountryAustralia
CitySydney, NSW
Period12/11/1312/11/15

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Transportation

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