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Determining the physical location is a fundamental challenge in location based services and service robotics. This paper presents an approach to simultaneously determine the pose of a mobile robot and the positions of static wireless nodes based on a new technique to compute the angle of arrival of radio signals. For the overall localization process an Extended Kalman Filter is employed. For the initialization...
We present a new method for localization using received signal strength indicator (RSSI) in ordinary wireless communication networks such as specified by IEEE 802.15.4. The method exploits the anisotropy of the antenna gain to determine the bearing of the robot relative to reference radio nodes. This method is not only more precise than the mapping of the RSSI to distance only, it also allows to estimate...
Determining the physical location of radio nodes is crucial in a wireless sensor network in order to geo-reference the sensor information. This paper presents a localization technique using a mobile radio node attached to a robot. Its position is given by a real time kinematic (RTK) GPS. We propose a new method to obtain the relative bearing between the mobile and the static node using commodity radio...
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