TY - GEN
T1 - Real-time kinematic Doppler pose estimation for IMES
AU - Sakamoto, Yoshihiro
AU - Ebinuma, Takuji
AU - Fujii, Kenjiro
AU - Sugano, Shigeki
PY - 2013/9/16
Y1 - 2013/9/16
N2 - In order to achieve the indoor localization with centimeter- to decimeter-level positioning accuracy under the use of the transmitters of 'indoor messaging system' (IMES), a method called 'real-time kinematic (RTK) Doppler pose estimation' is proposed. In this method, Doppler shifts are produced in the carrier waves transmitted from the IMES transmitters by moving the receiver antennas. The pose (position and orientation) of the receiver is then determined in real-time by using the Doppler shifts, inclination of the receiver, and geometric relation between the receiver antennas and transmitters. To evaluate the proposed method, an experiment with a mobile robot is conducted. The results of the experiment show that the proposed method can achieve a positioning accuracy of about 10 cm.
AB - In order to achieve the indoor localization with centimeter- to decimeter-level positioning accuracy under the use of the transmitters of 'indoor messaging system' (IMES), a method called 'real-time kinematic (RTK) Doppler pose estimation' is proposed. In this method, Doppler shifts are produced in the carrier waves transmitted from the IMES transmitters by moving the receiver antennas. The pose (position and orientation) of the receiver is then determined in real-time by using the Doppler shifts, inclination of the receiver, and geometric relation between the receiver antennas and transmitters. To evaluate the proposed method, an experiment with a mobile robot is conducted. The results of the experiment show that the proposed method can achieve a positioning accuracy of about 10 cm.
UR - http://www.scopus.com/inward/record.url?scp=84883680071&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84883680071&partnerID=8YFLogxK
U2 - 10.1109/AIM.2013.6584274
DO - 10.1109/AIM.2013.6584274
M3 - Conference contribution
AN - SCOPUS:84883680071
SN - 9781467353199
T3 - 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013
SP - 1300
EP - 1305
BT - 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
T2 - 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013
Y2 - 9 July 2013 through 12 July 2013
ER -