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Data communication with high data rate and precise underwater positioning with an accuracy of several centimeters is an unsolved problem. Precise positioning is important for autonomous vehicles. State-of-the-art acoustic communication and distance estimation faces difficulties underwater, e.g. multipath fading or variation of propagation speed. In this work, we propose optical distance estimation,...
Localization systems for mobile robots are a trade-off between accuracy, robustness and costs. Current solutions for landmark based indoor localization are either expensive or inaccurate and unreliable. Accurate solutions for instance require costly infrastructure and/or high computational power. Additionally, self-balancing robots have particular challenges due to the unstable nature of the system...
Linear and nonlinear filtering for state estimation (e.g. position estimation or sensor fusion) for indoor positioning and navigation applications is a challenging task. Sensor fusion becomes more important with cost-effective sensors being readily available. However, state estimation with recursive Bayesian filters for sensor fusion and filtering are difficult to apply. We present an overview for...
Indoor localization with Uplink Time Difference of Arrival (U-TDoA) provides good scalability, high updates rates and high accuracy. However, clock errors lead to localization errors and synchronization is important. In this paper, we design and implement wired and wireless synchronization and provide a comparison between them. We design and implement a wireless synchronization with clock drift compensation...
In range-based positioning systems, an altitude difference between tag and reference plane causes errors in two- and three-dimensional positioning. We analyze how these errors reduce accuracy of Local Positioning Systems (LPS) and show how compensation of the altitude difference improves performance of positioning. In this paper, we consider the availability of additional altitude information and...
Localization is a key aspect of emergent applications in the medical, industrial and consumer field. In this article we survey state of the art, identify current challenges and issues for localization systems and suggest a unified layered architecture. The analysis reveals that challenges cannot be addressed in an isolated manner for example, energy consumption is tied to the choice of algorithm and...
In the past various solutions for localization evolved to productive usage for wireless applications. These solutions are robust, precise and energy efficient. However, scalability, complexity and flexibility are still open issues. Especially the supported number of objects or update rates for localization are still limiting factors for the usage of the systems. In this work we suggest an approach...
Indoor localization is important for medical and industrial application as well as for wireless emergency and security systems. For such applications an accuracy within a few meters is desired. Available radio based systems within that accuracy are neither cost effective nor easy to deploy. In this work, we suggest an approach called bi-phase measurement based on phase measurements with two frequencies...
The advances of electronics provide options for improved monitoring of patients in clinical environment. Medical applications like blood pressure monitoring require precise and wireless altitude measurement in indoor environment. An error of more than a few centimeters bears a risk of mistreatment of patients. Furthermore, user requirements like small form factor, usability and robust operation are...
Indoor localization is important for logistics, industrial applications and for several consumer applications. In the area of logistics, e.g. warehouses, localization accuracy within a few meters is desired. Available radio based systems within that accuracy are neither cost effective nor easy to deploy. Distance estimation together with triangulation are one of the standard solutions for localization...
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