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

*この研究の対応する著者

研究成果: Conference contribution

20 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2008 IEEE International Conference on Robotics and Automation, ICRA 2008
ページ905-910
ページ数6
DOI
出版ステータスPublished - 2008 9月 18
イベント2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
継続期間: 2008 5月 192008 5月 23

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

Conference

Conference2008 IEEE International Conference on Robotics and Automation, ICRA 2008
国/地域United States
CityPasadena, CA
Period08/5/1908/5/23

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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