Title :
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
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;
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
DOI :
10.1109/IROS.2009.5354747
