TY - GEN
T1 - Indoor Position Estimation using NLoS Information by Wireless Distance Sensors
AU - Itsuka, Tomoya
AU - Kurazume, Ryo
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - This paper proposes a method for non-line-of-sight (NLoS) position estimation utilizing wireless distance sensors. Recently, the accuracy of wireless distance sensors that use ultra-wideband (UWB) or ultrasonic technologies to measure the distance between two sensor devices has increased significantly. By placing these sensors in the environment, it is possible to precisely determine the position of mobile robots in indoor environments. Owing to reflections in the environment, these sensors have a large measurement error in NLoS conditions, limiting their applicability to environments that satisfy the line-of-sight (LoS) condition. This study aims to develop a stable method for estimating the position of mobile robots in indoor environments, including NLoS conditions, using wireless distance sensors. Experiments were conducted in two real environments: one with obstacles in front of the beacon and one with dynamic obstacles. In both cases, the combining 2D-LiDAR and wireless distance sensors using the proposed method considering NLOS was more accurate than the method considering LoS only.
AB - This paper proposes a method for non-line-of-sight (NLoS) position estimation utilizing wireless distance sensors. Recently, the accuracy of wireless distance sensors that use ultra-wideband (UWB) or ultrasonic technologies to measure the distance between two sensor devices has increased significantly. By placing these sensors in the environment, it is possible to precisely determine the position of mobile robots in indoor environments. Owing to reflections in the environment, these sensors have a large measurement error in NLoS conditions, limiting their applicability to environments that satisfy the line-of-sight (LoS) condition. This study aims to develop a stable method for estimating the position of mobile robots in indoor environments, including NLoS conditions, using wireless distance sensors. Experiments were conducted in two real environments: one with obstacles in front of the beacon and one with dynamic obstacles. In both cases, the combining 2D-LiDAR and wireless distance sensors using the proposed method considering NLOS was more accurate than the method considering LoS only.
UR - http://www.scopus.com/inward/record.url?scp=85149105383&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85149105383&partnerID=8YFLogxK
U2 - 10.1109/SII55687.2023.10039195
DO - 10.1109/SII55687.2023.10039195
M3 - Conference contribution
AN - SCOPUS:85149105383
T3 - 2023 IEEE/SICE International Symposium on System Integration, SII 2023
BT - 2023 IEEE/SICE International Symposium on System Integration, SII 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 IEEE/SICE International Symposium on System Integration, SII 2023
Y2 - 17 January 2023 through 20 January 2023
ER -