Indoor location tracking in non-line-of-sight environments using a IEEE 802.15.4a wireless network

Author

Röhrig, Christof ; Müller, Marcel

Author_Institution

Dept. of Comput. Sci., Dortmund Univ. of Appl. Sci. & Arts, Dortmund, Germany

fYear

2009

fDate

10-15 Oct. 2009

Firstpage

552

Lastpage

557

Abstract

Indoor location tracking of mobile robots or transport vehicles using wireless technology is attractive for many applications. IEEE 802.15.4a wireless networks offer an inexpensive facility for localizing mobile devices by time-based range measurements. The main problems of time-based range measurements in indoor environments are errors by multipath and non-line-of-sight (NLOS) signal propagation. This paper describes indoor tracking using range measurements and an Extended Kalman Filter with NLOS mitigation. The commercially available nanoLOC wireless network is utilized for range measurements. The paper presents experimental results of tracking a forklift truck in an industrial environment.

Keywords

Kalman filters; distance measurement; indoor radio; mobile robots; personal area networks; radio tracking; IEEE 802.15.4a wireless network; NLOS mitigation; extended Kalman filter; indoor location tracking; mobile robots; multipath signal propagation; nanoLOC wireless network; non-line-of-sight environments; non-line-of-sight signal propagation; range measurements; transport vehicles; Antenna measurements; Antennas and propagation; Cascading style sheets; Diffraction; Indoor environments; Mobile robots; Optical reflection; Wireless LAN; Wireless networks; Wireless sensor networks;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on

Conference_Location

St. Louis, MO

Print_ISBN

978-1-4244-3803-7

Electronic_ISBN

978-1-4244-3804-4

Type

conf

DOI

10.1109/IROS.2009.5354747

Filename

5354747