6533b7d2fe1ef96bd125e25a

RESEARCH PRODUCT

Hybrid Observer for Indoor Localization with Random Time-of-Arrival Measurments

Giovanni GarraffaAntonino SferlazzaFrancesco AlongeFilippo D'ippolito

subject

Hybrid observerInertial frame of referenceComputer scienceComputerSystemsOrganization_COMPUTER-COMMUNICATIONNETWORKSReal-time computingObserver (special relativity)BeaconTime of flightindoor localizationTime of arrivalSettore ING-INF/04 - AutomaticaInertial measurement unitsampled measurements.ComputerSystemsOrganization_SPECIAL-PURPOSEANDAPPLICATION-BASEDSYSTEMSWireless sensor network

description

In this work an indoor position estimation algorithm will be proposed. The position will be measured by means of a sensor network composed by fixed beacons placed on the indoor environment and a mobile beacon mounted on the object to be tracked. The mobile beacon communicates with all the fixed beacons by means of ultra wide-band signals, and the distance between them is computed by means of time of flight techniques. Moreover, inertial measurements will be used when the position measurements are not available. Two main problems will be considered in the proposed architecture: the fact that the beacons work with a lower update rate than the IMU, and that the mobile beacon can comunicate with only one fixed beacon at a time. Experimental results will be shown in order to validate the effectiveness of the proposed technique.

yearjournalcountryeditionlanguage
2018-09-01
10.1109/rtsi.2018.8548516http://hdl.handle.net/10447/337579