Abstract
In recent years, indoor positioning systems (IPS) are increasingly very important for a smart factory, and the Lora positioning system based on round-trip time (RTT) has been developed. This paper introduces the ranging characterization, RTT measurement, and position estimation method. In particular, a particle filter localization method-aided Lora pseudorange fitting correction is designed to solve the problem of indoor positioning; the cumulative distribution function (CDF) criteria are used to measure the quality of the estimated location in comparison to the ground truth location; when the positioning error on the x -axis threshold is 0.2 m and 0.6 m, the CDF with pseudorange correction is 61% and 99%, which are higher than the 32% and 85% without pseudorange correction. When the positioning error on the y -axis threshold is 0.2 m and 0.6 m, the CDF with pseudorange correction is 71% and 99.9%, which are higher than the 52% and 94.8% without pseudorange correction.
Highlights
Indoor positioning systems are increasingly very important for a smart factory, such as finding the location of workers, goods, or vehicles [1,2,3,4]
Numerous experiments were carried out with real Lora round-trip time (RTT) measurement data to evaluate the performance of the proposed approach; we used the cumulative distribution function (CDF) criteria to measure the quality of the estimated location in comparison to the ground truth location
The results show that the indoor positioning accuracy is improved obviously with the help of the piecewise fitting correction method
Summary
Indoor positioning systems are increasingly very important for a smart factory, such as finding the location of workers, goods, or vehicles [1,2,3,4]. The research on indoor positioning technologies has been conducted for more than three decades, such as Radio Frequency Identification (RFID) [5, 6], WiFi [7, 8], Ultra Wide Band (UWB) [9,10,11], Pseudolite [12,13,14], Bluetooth [15], and Inertial Navigation System (INS), but they may not be suitable for Internet of Things (IoT) applications in terms of cost, application mode, and terminal power consumption. Semtech has developed a Lora positioning system based on round-trip time [18], which is called the SX1280 transceiver. We focus on one of the latest techniques called the RTT scheme-based ranging and localization [28,29,30], which can give accurate measurements by the time stamp from the initiator (Lora_A) to the responder (Lora_B) with nanosecond resolution.
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