Abstract
This paper presents a 2D indoor localization and orientation system based on a TDOA (Time Difference of Arrival) technique. It uses an array of receivers (four low-cost ultrasonic resonant devices in a square distribution) to implement low-computational-effort DOA (Direction of Arrival) algorithms, based on assumed plane-wave reception. The system only demands two transmitters at well-known positions on the ceiling of the room for obtaining the node position and orientation when it is deployed on the floor of the room. This system has been tested using a Xilinx Spartan-3A FPGA that implements a 52 MHz MicroBlaze. The experimental results include a total of 1,440 points, obtaining a mean localization error of 5.17 cm and a mean orientation error of 3.34°. For this system, the localization and orientation processes are executed in less than 50 us.
Highlights
Low-cost and precise indoor localization systems are currently in high demand for new commercial robots
The rest of the paper is organized in eight main sections: “ALO4 System”, describing the new TDOA system; “Computational Effort”, analysing the cycles needed by an embedded microprocessor to execute the localization and orientation processes; “ALO4 Error Analysis”, where plane-wave approximation error is analysed using the new distribution; “Calibration”, which describes the process followed to improve the estimation of the direction of arrival; “Implementation”, where the description of the implemented system can be found; “Deployment” where a description of how to deploy transmitters is shown; “Mobility Performance”, where an analysis of the performance of the localization and orientation system is made when the node is moving; and “Results”, where the experimental results are presented
This paper presents an inexpensive localization and orientation system for indoor environments based on ultrasound transceivers
Summary
Low-cost and precise indoor localization systems are currently in high demand for new commercial robots. The evolution with respect to ALO3 consists in adding one additional receiver to the node, moving the reference point of the node to a point in the middle of the receivers This almost removes the error in considering the arrival of the ultrasonic signal as a plane wave, significantly improving the system performance without increasing the computational effort. The rest of the paper is organized in eight main sections: “ALO4 System”, describing the new TDOA system; “Computational Effort”, analysing the cycles needed by an embedded microprocessor to execute the localization and orientation processes; “ALO4 Error Analysis”, where plane-wave approximation error is analysed using the new distribution; “Calibration”, which describes the process followed to improve the estimation of the direction of arrival; “Implementation”, where the description of the implemented system can be found; “Deployment” where a description of how to deploy transmitters is shown; “Mobility Performance”, where an analysis of the performance of the localization and orientation system is made when the node is moving; and “Results”, where the experimental results are presented
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