Abstract
We propose and demonstrate an indoor location awareness method for an autonomous robot vehicle using light-emitting diodes (LEDs). The location is estimated by measuring received signal strength ratio (RSSR), which is the relative ratio of optical powers detected between each LED and optical receiver. In this method, multiple LED lamps on the indoor ceiling are used, which can radiate light only during the individual time slot assigned to each of them. Using the RSSRs, circle or straight line equations are obtained and the crossing point among those equations determines the location of the object. In the experiment, four LED lamps are iden- tified by time-division multiplexing with room dimensions of 1.0 × 1.0 × 1.3 m 3 , and the results show that the mean of the location error is 3.24 cm in the entire floor area. © The Authors. Published by SPIE under a Creative Commons Attribution 3.0 Unported License. Distribution or reproduction of this work in whole or in part requires full attribution of the original publication, including
Highlights
Indoor positioning systems using light-emitting diodes (LEDs) have recently been introduced
The location of an object is estimated by measuring received signal strength ratio (RSSR), which is the relative ratio of optical powers detected between each LED and optical receiver
−LED12X þ LED22X − LED12Y þ LED22Y 1⁄4 0: (6). This RSSR method can be applied to the case of four LED lamps, and three equations can be obtained from the relations between LED1 and LED2, between LED1 and LED3, and between LED1 and LED4
Summary
Indoor positioning systems using light-emitting diodes (LEDs) have recently been introduced. Because the LEDs can switch and modulate electrical signals into lightwave signals at high speed, they can be used for visible light communication[1,2] and head-tracking techniques.[3] Numerous LED-based positioning systems have been reported by using image sensors,[4] fingerprinting,[5] correlation,[6] and time difference of arrival (TDOA)[7,8] so far. The location of an object is estimated by measuring received signal strength ratio (RSSR), which is the relative ratio of optical powers detected between each LED and optical receiver. This method reduces errors due to the difference in device parameters because it could be cancelled out. Using the RSSRs, circle or straight line equations are obtained and the crossing point of the equations indicates the location
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