TY - GEN
T1 - Optimal multistatic ultrasonic sensors based indoor navigation system
AU - Kapoor, Rohan
AU - Gardi, Alessandro
AU - Sabatini, Roberto
N1 - Publisher Copyright:
© 2019 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.
PY - 2019
Y1 - 2019
N2 - This paper presents a novel indoor navigation technique using acoustic sensors, with emphasis on performance modeling and the system layout. 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 Time of Arrival (TOA) based ranging measurements from a minimum of four transmitters. The transmitters are arranged optimally to minimize Position Dilution of Precision (PDOP) as well as maximizing sensor availability. The proposed technique can provide accurate navigation observables in indoor environments, where conventional satellite-based navigation systems cannot deliver the required Position, Velocity, and Time (PVT) data. Additionally, being based on acoustic signals, it is immune to signal-in-space electromagnetic interferences. The TDMA based acoustic navigation system is described, with potential errors in ranging due to Doppler effect, multipath, atmospheric propagation, and signal delays. The error in positioning due to platform dynamics is also discussed. This analysis will lead to an optimized arrangement of transmitters supporting the future ground and flight experimental activities.
AB - This paper presents a novel indoor navigation technique using acoustic sensors, with emphasis on performance modeling and the system layout. 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 Time of Arrival (TOA) based ranging measurements from a minimum of four transmitters. The transmitters are arranged optimally to minimize Position Dilution of Precision (PDOP) as well as maximizing sensor availability. The proposed technique can provide accurate navigation observables in indoor environments, where conventional satellite-based navigation systems cannot deliver the required Position, Velocity, and Time (PVT) data. Additionally, being based on acoustic signals, it is immune to signal-in-space electromagnetic interferences. The TDMA based acoustic navigation system is described, with potential errors in ranging due to Doppler effect, multipath, atmospheric propagation, and signal delays. The error in positioning due to platform dynamics is also discussed. This analysis will lead to an optimized arrangement of transmitters supporting the future ground and flight experimental activities.
UR - http://www.scopus.com/inward/record.url?scp=85083941195&partnerID=8YFLogxK
U2 - 10.2514/6.2019-1930
DO - 10.2514/6.2019-1930
M3 - Conference contribution
AN - SCOPUS:85083941195
SN - 9781624105784
T3 - AIAA Scitech 2019 Forum
BT - AIAA Scitech 2019 Forum
T2 - AIAA Scitech Forum, 2019
Y2 - 7 January 2019 through 11 January 2019
ER -