GPS-based indoor positioning system with multi-channel pseudolite

Haruhiko Niwa*, Kenri Kodaka, Yoshihiro Sakamoto, Masaumi Otake, Seiji Kawaguchi, Kenjirou Fujii, Yuki Kanemori, Shigeki Sugano

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

23 Citations (Scopus)


Wabot-House Research Laboratory is working on a project that will enable integrating robots into our everyday life. We believe that a "structured environment" (SE) will be one of most important concepts for this project. An SE generally means that objects near people that have some database or intelligence provide certain information to those people. An SE will also assist robot recognition or movement planning. Now, we focus on a global positioning system (GPS), which is a global SE that gives users or robots their positions whenever and wherever they are outdoors all over the world. GPS will strongly support robot self-positioning. However, GPS has the problem that it cannot be used when the robots are indoors. To solve this problem, we experimentally mounted four pseudolites ('pseudo' means imitated and 'lite' means satellite) in our laboratory and developed indoor GPS. The system worked well unless the robot was near the wall, where cycle slip often occurred. To examine the characteristics and reason for cycle slip, we measured the radio-wave environment in the laboratory. The first half of this paper introduces this system. The last reports results and findings about this experiment.

Original languageEnglish
Title of host publication2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Number of pages6
Publication statusPublished - 2008 Sept 18
Event2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
Duration: 2008 May 192008 May 23

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729


Conference2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Country/TerritoryUnited States
CityPasadena, CA

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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