A Combined Location Method for Mobile Robots Based on Dead Reckoning and WLAN

2014 ◽  
Vol 631-632 ◽  
pp. 649-653 ◽  
Author(s):  
Fang Jia ◽  
Kui Liu ◽  
De Cheng Xu
Keyword(s):  
Mobile Robots ◽  
Information Fusion ◽  
Low Cost ◽  
Dead Reckoning ◽  
Probability Matching ◽  
Location Method ◽  
Indoor Location ◽  
Location Algorithm ◽  
Location Methods ◽  
Received Signal Strength Indication

To minimize the deficiency of the existing indoor location methods for mobile robots, the RSSI (received signal strength indication) model of WLAN is established. Then a combined location method for mobile robots based on DR (dead reckoning) and WLAN is proposed, which employs PMLA (probability matching location algorithm) and KF (Kalman filter) for information fusion. Simulation results reveal that the combined location approach works well in eliminating the cumulative error of DR and reducing the fluctuation of WLAN location. As a result, the proposed method is capable of enhancing the positioning accuracy of mobile robots to a certain extent, promising a low-cost and reliable location scheme for its development.

The Algorithm of Passive Location of Emitter Based on LOB

2014 ◽  
Vol 543-547 ◽  
pp. 1777-1781
Author(s):  
Wan Li Xu ◽  
Zhun Liu ◽  
Jun Hui Liu
Keyword(s):  
Iteration Algorithm ◽  
Passive Location ◽  
Observation Station ◽  
Precise Location ◽  
Location Method ◽  
Simulated Experiment ◽  
Location Algorithm ◽  
Modern Information ◽  
Location Methods ◽  
Probabilistic Location

[Purpos] The use of passive observation station to achieve precise location of an emitter is the precondition of electronic countermeasures and fire destruction in the modern information war. [Method] This paper dissects several modern typical location methods which are based on LOB. On this basis, the paper puts forward fusion-iteration location algorithm, and makes Monte Carlo simulated experiment to compare with Pages-Zamora method which is used by FCC and probabilistic location method. [Results] Experimental results show that CEP of fusion-iteration location algorithm is the minimum one. [Conclusions] Pages-Zamora method is a typical location method and fusion-iteration location algorithm shows higher precision than Pages-Zamora, so fusion-iteration algorithm is an effective passive location method.

scholarly journals TelOpTrak: Heuristics-enhanced Indoor Location Tracking for Tele-operated Robots

2012 ◽  
Vol 65 (2) ◽  
pp. 265-279 ◽  
Author(s):  
Johann Borenstein ◽  
Russ Miller ◽  
Adam Borrell
Keyword(s):  
Low Cost ◽  
Dead Reckoning ◽  
Experimental Results ◽  
Location Tracking ◽  
Live Video ◽  
Indoor Location ◽  
Live Demonstration ◽  
Conference Papers ◽  
Gyro Drift

With most tele-operated robots the operator's only feedback is the view from an onboard camera. Live video lets the operator observe the robot's immediate surroundings but does not establish the orientation or whereabouts of the robot in its environment. An additional plot of the robot's trajectory would be helpful for the operator and is sometimes provided, based on GPS. However, indoors where GPS is unavailable, tracking has to rely on dead-reckoning, which is too inaccurate to be useful. Our proposed TelOpTrak method corrects dead-reckoning errors even when only odometry and a low-cost (and thus, high-drift) MEMS-class gyro are available on the robot. TelOpTrak corrects gyro drift by exploiting the structured nature of most buildings, but without having to directly sense building features. This paper explains the TelOpTrak method and provides comprehensive experimental results.Earlier versions of this paper (Borenstein et al., 2010a), (Borenstein et al., 2010b) were presented at two conferences. The main difference between the earlier conference papers and the present manuscript is that the latter is more comprehensive, more up-to-date, and it presents an entirely new set of experimental results, including results of a live demonstration at the 2010 Robotics Rodeo event at Ft. Benning, USA.

Accurate 3D Localization Using RGB-TOF Camera and IMU for Industrial Mobile Robots

Robotica ◽  
2021 ◽  
pp. 1-18
Author(s):  
Majid Yekkehfallah ◽  
Ming Yang ◽  
Zhiao Cai ◽  
Liang Li ◽  
Chuanxiang Wang
Keyword(s):  
Mobile Robots ◽  
Inertial Measurement Unit ◽  
Indoor Environment ◽  
State Of The Art ◽  
Low Cost ◽  
Estimation Algorithm ◽  
Measurement Unit ◽  
3D Localization ◽  
Fast Motion ◽  
Tof Camera

SUMMARY Localization based on visual natural landmarks is one of the state-of-the-art localization methods for automated vehicles that is, however, limited in fast motion and low-texture environments, which can lead to failure. This paper proposes an approach to solve these limitations with an extended Kalman filter (EKF) based on a state estimation algorithm that fuses information from a low-cost MEMS Inertial Measurement Unit and a Time-of-Flight camera. We demonstrate our results in an indoor environment. We show that the proposed approach does not require any global reflective landmark for localization and is fast, accurate, and easy to use with mobile robots.

scholarly journals Analysis of Advantages and Disadvantages of the Location Methods of International Auricular Acupuncture Points

2016 ◽  
Vol 2016 ◽  
pp. 1-13 ◽  
Author(s):  
Pei-Jing Rong ◽  
Jing-Jun Zhao ◽  
Lei Wang ◽  
Li-Qun Zhou
Keyword(s):  
Research Quality ◽  
Auricular Acupuncture ◽  
Acupuncture Points ◽  
Location Method ◽  
International Standard ◽  
Advantages And Disadvantages ◽  
International Standardization ◽  
The Right ◽  
Auricular Therapy ◽  
Location Methods

The international standardization of auricular acupuncture points (AAPs) is an important basis for auricular therapy or auricular diagnosis and treatment. The study on the international standardization of AAPs has gone through a long process, in which the location method is one of the key research projects. There are different points of view in the field of AAPs among experts from different countries or regions. By only analyzing the nine representative location methods, this paper tried to offer a proper location method to locate AAPs. Through analysis of the pros and cons of each location method, the location method applied in the WFAS international standard of AAPs is thoroughly considered as an appropriate method. It is important to keep the right direction during developing an International Organization for Standardization (ISO) international standard of auricular acupuncture points and to improve the research quality of international standardization for AAPs.

scholarly journals A Novel Single-Terminal Fault Location Method for AC Transmission Lines in a MMC-HVDC-Based AC/DC Hybrid System

Energies ◽  
2018 ◽  
Vol 11 (8) ◽  
pp. 2066 ◽  
Author(s):  
Shimin Xue ◽  
Junchi Lu ◽  
Chong Liu ◽  
Yabing Sun ◽  
Baibing Liu ◽  
...  
Keyword(s):  
Transmission Lines ◽  
Fault Location ◽  
Control Strategies ◽  
Linear Regression Analysis ◽  
Location Method ◽  
Fault Resistance ◽  
Ac Networks ◽  
Minimum Residual ◽  
Ac Transmission ◽  
Location Methods

Accurate and reliable fault location method for alternating current (AC) transmission lines is essential to the fault recovery. MMC-based converter brings exclusive non-linear characteristics to AC networks under single-phase-to-ground faults, thus influencing the performance of the fault location method. Fault characteristics are related to the control strategies of the converter. However, the existing fault location methods do not take the control strategies into account, with further study being required to solve this problem. The influence of the control strategies to the fault compound sequence network is analyzed in this paper first. Then, a unique boundary condition that the fault voltage and negative-sequence fault current merely meet the direct proportion linear relationship at the fault point, is derived. Based on these, a unary linear regression analysis is performed, and the fault can be located according to the minimum residual sum function principle. The effectiveness of the proposed method is verified by PSCAD/EMTDC simulation platform. A large number of simulation results are used to verify the advantages on sampling frequency, fault resistance, and fault distance. More importantly, it provides a higher ranging precision and has extensive applicability.

A self-developed indoor three-dimensional pedestrian localization platform based on MEMS sensors

Sensor Review ◽  
2015 ◽  
Vol 35 (2) ◽  
pp. 157-167 ◽  
Author(s):  
Shengbo Sang ◽  
Ruiyong Zhai ◽  
Wendong Zhang ◽  
Qirui Sun ◽  
Zhaoying Zhou
Keyword(s):  
Low Cost ◽  
Angular Rate ◽  
Three Dimensional ◽  
Dead Reckoning ◽  
Rate Data ◽  
Mems Sensors ◽  
Micro Electro Mechanical Systems ◽  
Content Type ◽  
Position Errors ◽  
Low Performance

Purpose – This study aims to design a new low-cost localization platform for estimating the location and orientation of a pedestrian in a building. The micro-electro-mechanical systems (MEMS) sensor error compensation and the algorithm were improved to realize the localization and altitude accuracy. Design/methodology/approach – The platform hardware was designed with common low-performance and inexpensive MEMS sensors, and with a barometric altimeter employed to augment altitude measurement. The inertial navigation system (INS) – extended Kalman filter (EKF) – zero-velocity updating (ZUPT) (INS-EKF-ZUPT [IEZ])-extended methods and pedestrian dead reckoning (PDR) (IEZ + PDR) algorithm were modified and improved with altitude determined by acceleration integration height and pressure altitude. The “AND” logic with acceleration and angular rate data were presented to update the stance phases. Findings – The new platform was tested in real three-dimensional (3D) in-building scenarios, achieved with position errors below 0.5 m for 50-m-long route in corridor and below 0.1 m on stairs. The algorithm is robust enough for both the walking motion and the fast dynamic motion. Originality/value – The paper presents a new self-developed, integrated platform. The IEZ-extended methods, the modified PDR (IEZ + PDR) algorithm and “AND” logic with acceleration and angular rate data can improve the high localization and altitude accuracy. It is a great support for the increasing 3D location demand in indoor cases for universal application with ordinary sensors.

Active RFID Indoor Location System Based on RSSI Ranging Correction

2013 ◽  
Vol 677 ◽  
pp. 449-454 ◽  
Author(s):  
Qing Bin Meng ◽  
Lan Ju ◽  
Jie Jin ◽  
Wei Xiang Li
Keyword(s):  
High Precision ◽  
Environmental Parameters ◽  
Statistical Calculation ◽  
Average Deviation ◽  
Active Rfid ◽  
Indoor Location ◽  
Location System ◽  
Statistical Experiments ◽  
Location Algorithm

For indoor location, an active RFID indoor location system is designed. The system is designed and implemented by using a RSSI-based ranging technology location algorithm. In this article, the author amended the RSSI ranging equation, proposed and implemented a way to extract and estimate the environmental parameters of specific application scenarios, and improved the accuracy of the RSSI ranging. After many statistical experiments, the results show that the system’s deviation can reach 10cm on the diagonal of the region, and about 30cm on the edge. Through statistical calculation, the average deviation of system position is about 10.6cm, which is a good location system of high precision. When implemented for different applications, this system has the advantages of simplicity and adaptability.

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