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Localization for Mobile Robot by Selective Anchors in Indoor GPS and EKF
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 Title & Authors
Localization for Mobile Robot by Selective Anchors in Indoor GPS and EKF
Kang, Han-Goo; Yun, Jae-Oh; Lee, Ji-Hong;
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This paper proposes a technique of indoor localization for mobile robot by so called indoor GPS and EKF. Basically the concept of indoor GPS is similar outdoor GPS, and the indoor GPS gets distances between Anchors and Tag by a ranging method of CSS and then estimates the coordinate by distances and known Anchor positions. After we performed performance test of indoor GPS system in ideal and multipath environment, we configured that the indoor GPS has internal error factors and external error factors. This paper handled a multipath problem belonging to external error factors. At first various direct physical method are introduced to fix the multipath problems, and as expected we got errors corrected considerably. And then the method of selective anchors for indoor GPS is applied. With these two level improvement of indoor GPS performance, EKF(Extended Kalman Filter) is applied to mobile robot in indoor environment. The usefulness of the proposed methods are shown by a series of experiments in a environment giving contaminated data by multipath.
LBS;Localization;Indoor GPS;Multipath;EKF;
 Cited by
위상학적 공간 인식을 위한 효과적인 초음파 격자 지도 매칭 기법 개발,최진우;최민용;정완균;

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