Indoor Positioning System Based on a PSD Detector, Precise Positioning of Agents in Motion Using AoA Techniques.

David Rodríguez-Navarro,Alfredo Gardel-Vicente,Georgios Tsirigotis,Álvaro De-La-Llana-Calvo,Juan Iglesias-Miguel,José Lázaro-Galilea,Ignacio Bravo-Muñoz

doi:10.3390/s17092124

Abstract

Here, we present an indoor positioning system (IPS) for detecting mobile agents based on a single Position Sensitive Device sensor (PSD) sited in the environment and InfraRed Emitter Diode (IRED) located on mobile agents. The main goal of the work is to develop an alternative IPS to other sensing technologies, cheaper, easier to install and with a low computational load to obtain a high rate of measurements per second. The proposed IPS has the capacity to accurately determine 3D position from the angle of arrival (AoA) of the signal received at the PSD sensor. In this first approach to the method, the agents are considered to move along a plane. We propose two alternatives for determining position: in one, tones are emitted on a frequency unique to each transmitter, while in the other, sequences are emitted.The paper proposes and set up a very simple and easy to deploy system capable of performing 3D positioning with a single analog sensor, obtaining a high accurate positioning and a reduced execution time for the signal processing. The low computational load of the IPS makes it possible to obtain a very high position update rate (more than 100 times per second), yielding millimetric accuracies.

Highlights

Indoor positioning systems (IPS) use a wide range of technologies [1], each of which presents different characteristics tailored to different applications, with varying degrees of success
For the initial laboratory tests done with the workbench, we have used the following components: a data acquisition board GAGE (Lockport, IL, USA) CS8284 configured with a sampling frequency of 10 MS/s, 12-bit resolution and input voltage range from 100 mV to 5 V
We have presented a proposal here for an indoor positioning system (IPS) based on Position Sensitive Device sensor (PSD) sensors that yields millimetric accuracies, as has been demonstrated in various experimental tests

Summary

Introduction

Indoor positioning systems (IPS) use a wide range of technologies [1], each of which presents different characteristics tailored to different applications, with varying degrees of success. IPS applications are used in smart factories [10] that deploy autonomous robots that move and cooperate with each other to perform various tasks. The main errors arose from signal noise and gain imbalances in the PSD sensor channels, which could be substantially mitigated by using digital filters and performing electrical calibration. It should be noted that the intrinsic parameters of the set composed by the PSD + lens when obtaining the positioning of some mobile agent, as developed in [29,30], must be perfectly modeled and calibrated; otherwise, the errors are huge, turning useless the system.

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Conclusion