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This paper presents a constrained navigation on a Metric Description Graph (MDG) based on the use of a H-Infinity Filter (H-∞) including the restriction on the graph as a fictitious observation. The main goal is to reduce the number of the required ultrasonic beacons for covering an extensive indoor area. This reduction of the localization infrastructure involves an increment of the error in the estimation...
In this paper, we propose an indoor localization method using a distance-illuminance model of lighting devices and trilateration. We propose a method that estimates distance from three controllable lighting devices based on the illuminance at the target point, by alternately turning on each of the devices. Then, the proposed method estimates the position of the target point based on trilateration...
In this paper, signals for acoustic beacons with M sequence are evaluated with various parameters for self-localization of mobile robot. The effect of (i) baud rate, (ii) carrier frequency and (iii) order of M sequence on DOA estimation error and localization error are evaluated by computer simulation. As a result, localization is possible with same class or more precision compared to the result from...
This paper proposes an algorithm to design band-limited Orthogonal Frequency Division Multiplexing (OFDM) pulses for accurate time-of-flight ranging in acoustic-based localization systems. The proposed algorithm is capable to generate OFDM pulses with higher energy when compared with other common pulse design approaches with similar characteristics. The results attained have shown that it is possible...
This paper presents basic characteristics of the problem of positioning errors propagation in collaborative multi robot environments. We propose two localization methods to achieve a cooperative positioning system using a collaborative autonomous robotic team for indoor surveillance applications. Based on case study simulation results, we were able to evaluate the error propagation process and to...
In this paper we present an Android application, called LOCATE-US, that allows accurate indoor positioning of mobile devices by processing the ultrasonic signals coming from a local positioning system (LPS). The LPS operates around 41KHz, and an external hardware based on an ultrasonic microphone digitizes the incoming signals and send them to the mobile device, where they are processed by means of...
In this paper, we address the problem of range-based beacon placement given a floor plan to support indoor localization systems. Existing approaches for trilateration require three or more beacons to determine a unique position solution. We show that with prior knowledge of the map and a model of beacon coverage, it is possible to uniquely localize with only two beacons. This not only reduces installation...
This paper proposes a Doppler resilient modulation approach that can be used in acoustic local positioning systems with Binary Phase-Shift Keying (BPSK) modulated signals for Time-of-Flight (ToF) estimation. The proposed approach is implemented in the receiver and can be performed in parallel with other classic techniques to improve the position estimation process. The technique is based on Differential...
Passive acoustic localization is an important technique in a wide variety of monitoring applications, ranging from healthcare over biological survey to structural health monitoring of buildings. If the subject of interest emits a recognizable sound and is picked up by a distributed array of microphones it is possible to measure the difference in arrival times and reconstruct the source positions....
Throughout the last decades, human motion capture systems have become an important tool for various sectors. Besides the entertainment sector, which is probably the most known sector to use these systems through popular movies and video games, the medical sector has adopted this technology as an analysis tool. These clinical analyses measure the human body posture and movement for various purposes...
This paper describes a spot-controllable data-transfer method. The proposed method generates a beam-shaped spot using two commercial off-the-shelf speakers. In our method, a symbol consists of a pair of sinusoidal waves having different angular frequencies. The width and direction of a beam-shaped spot are controlled by the angular-frequency difference between the sinusoidal waves and the transmission-time...
Optimal placement of sensors is a fundamental task to achieve high performance of different applications, especially in multi-sensor scenarios and complex environments. This paper proposes an alternative for automatically estimating the optimal placement of multiple microphones (individual or conforming arrays), in arbitrary complex indoor environments, for acoustic localization tasks. The proposal...
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