Simultaneous mobile robot and radio node localization in wireless networks

Determining the physical location is a fundamental challenge in location based services and service robotics. This paper presents an approach to simultaneously determine the pose of a mobile robot and the positions of static wireless nodes based on a new technique to compute the angle of arrival of radio signals. For the overall localization process an Extended Kalman Filter is employed. For the initialization of the nodes positions a Particle Filter is used, to overcome the nonlinearity problem. Experiments show a mean accuracy for the position of the robot of 39mm for an indoor office environment and 80mm for an outdoor landscape environment.