Indoor robot localization based on wireless sensor networks

Author

Long Cheng ; Cheng-Dong Wu ; Yun-Zhou Zhang

Author_Institution

Sch. of Inf. Sci. & Eng., Northeastern Univ., Shenyang, China

Volume

57

Issue

3

fYear

2011

fDate

8/1/2011 12:00:00 AM

Firstpage

1099

Lastpage

1104

Abstract

An effective indoor localization method of hybrid RSSI/TDOA is proposed to reduce the big errors occurred during indoor RSSI localization and high cost paid by TDOA localization. It measures RSSI with iterative recursive weighted average filter, and polynomial model is obtained to fitting the RSSI measurement and to obtain polynomial model. Furthermore the hybrid RSSI/TDOA localization algorithm is employed. The experiment results show that the proposed method of iterative recursive weighted average filter will improve the accuracy of RSSI localization on the condition of lower computation complexity, and the achieved localization is more accurate in the polynomial fitting than in the log-normal shadowing model. Moreover, the indoor location accuracy in the experiment is approximate 0.5 meter that satisfies the precision requirement of indoors location precision.

Keywords

computational complexity; maximum likelihood estimation; mobile robots; polynomials; recursive filters; wireless sensor networks; computational complexity; hybrid RSSI-TDOA localization algorithm; indoor robot localization; indoors location precision; iterative recursive weighted average filter; log-normal shadowing model; maximum likelihood estimation; polynomial fitting; polynomial model; received signal strength index; time difference of arrival; wireless sensor network; Accuracy; Estimation; Filtering algorithms; Fitting; Polynomials; Robots; Wireless sensor networks; Indoor localization; Iterative recursive weightedaverage filter; Polynomial fitting; Received signal strength index; Wireless sensor networks;

fLanguage

English

Journal_Title

Consumer Electronics, IEEE Transactions on

Publisher

ieee

ISSN

0098-3063

Type

jour

DOI

10.1109/TCE.2011.6018861

Filename

6018861