Abstract
An inexpensive bearing estimation sensor and a corresponding method has been recently proposed for indoor localization applications. The system utilizes modulated infrared LED sources as light beacons, and a planar circular photodiode array (PCPA) as sensor. The PCPA measures the light intensity of the beacons in multiple channels, from which the bearings of the beacons can be estimated using least squares (LS) method, with an accuracy in the range of 1 degree. In this paper a novel estimation method is proposed, which provides fast bearing estimates from the PCPA measurements using the frequency domain. The computational complexity of the novel method is orders of magnitude less than that of the LS solution, at the price of a slight decrease in accuracy. The performance of the PCPA is analyzed in the presence of reflections and the tilting of the sensor. The results demonstrate that the effect of reflections can be significant, while the tilting of the sensor has only a minor effect on the bearing estimation. The applicability of the measurement device in indoor localization applications is illustrated by real localization examples.
Highlights
IntroductionMost indoor localization systems utilize some beaconing infrastructure (e.g., radio, light, sound sources) along with corresponding sensors to estimate various properties of the beacons (e.g., distance between the sensor and the beacon, angle of arrival and direction of the beacon, view angles between beacons, etc.)
Most indoor localization systems utilize some beaconing infrastructure along with corresponding sensors to estimate various properties of the beacons
The results demonstrate that the effect of reflections can be significant, while the tilting of the sensor has only a minor effect on the bearing estimation
Summary
Most indoor localization systems utilize some beaconing infrastructure (e.g., radio, light, sound sources) along with corresponding sensors to estimate various properties of the beacons (e.g., distance between the sensor and the beacon, angle of arrival and direction of the beacon, view angles between beacons, etc.). In this paper we focus on systems using angle of arrival (AoA) or angle difference of arrival (ADoA) measurements [1] Some of these localization systems use acoustic sources [2,3], an interesting example being weapon localization where the beacon is the muzzle blast of the weapon [2], but the majority of AoA/ADoA systems utilize optical sources, e.g., blinking LEDs [4,5,6,7,8,9,10,11,12,13]. In such systems bearings are measured between the sources and the sensors, and based upon the angle measurements the unknown location is estimated using various means, e.g., least squares estimates [4], consensus functions [5], or exhaustive search [4]
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