Network optimization for multistatic ultrasonic sensors based indoor navigation system

Rohan Kapoor, Alessandro Gard, Roberto Sabatini

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

This paper presents a novel indoor navigation technique using acoustic sensors, with emphasis on performance modelling and the system layout optimisation. Acoustic transmitters are arranged at known fixed locations and broadcast their respective signals following a Time Division Multiple Access (TDMA) scheme. The receiver position is calculated based on ranging measurements from a minimum of four transmitters. The range is calculated based on time-of-flight (TOF) of acoustic waves from the transmitter to the receiver. The transmitters are arranged optimally to minimize Position Dilution of Precision (PDOP). Optimizing the location of transmitters for minimum PDOP also leads to better coverage in the indoor environment, where conventional satellite based navigation systems cannot deliver the required Position, Velocity and Time (PVT) data. The attenuation of sound in air is discussed along with potential ranging errors and signal delays. Simulations are carried out to optimize the arrangement of transmitters for future experiments with indoor air and surface vehicles.

Original languageBritish English
Title of host publication5th IEEE International Workshop on Metrology for AeroSpace, MetroAeroSpace 2018 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages645-650
Number of pages6
ISBN (Print)9781538624746
DOIs
StatePublished - 31 Aug 2018
Event5th IEEE International Workshop on Metrology for AeroSpace, MetroAeroSpace 2018 - Rome, Italy
Duration: 20 Jun 201822 Jun 2018

Publication series

Name5th IEEE International Workshop on Metrology for AeroSpace, MetroAeroSpace 2018 - Proceedings

Conference

Conference5th IEEE International Workshop on Metrology for AeroSpace, MetroAeroSpace 2018
Country/TerritoryItaly
CityRome
Period20/06/1822/06/18

Keywords

  • Acoustic sensors
  • Indoor navigation
  • Position Dilution of Precision
  • Ranging
  • Ultrasonics
  • Unmanned Aerial Vehicles

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