A combined approach of Doppler and carrier-based hyperbolic positioning with a multi-channel GPS-pseudolite for indoor localization of robots

Kenjiro Fujii; Ryosuke Yonezawa; Yoshihiro Sakamoto; Alexander Schmitz; Shigeki Sugano

doi:10.1109/IPIN.2016.7743668

A combined approach of Doppler and carrier-based hyperbolic positioning with a multi-channel GPS-pseudolite for indoor localization of robots

Kenjiro Fujii, Ryosuke Yonezawa, Yoshihiro Sakamoto, Alexander Schmitz, Shigeki Sugano

研究成果: Conference contribution

10 被引用数 (Scopus)

抄録

A combined method of Doppler positioning and carrier-based hyperbolic positioning with a multi-channel GPS-pseudolite is proposed for indoor localization. This method uses carrier-phase output from a GPS/pseudolite receiver. The carrier-phase observable is precise but does not provide range information between the pseudolite and receiver antennas necessary for position calculation. This is because of the existence of carrier ambiguity. This problem can be solved by using the proposed combined method. In the present work, the positioning theory is established and experimentally evaluated with actual devices including a robot. The experimental result shows that a positioning accuracy of more than 10 cm is achievable.

本文言語	English
ホスト出版物のタイトル	2016 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2016
出版社	Institute of Electrical and Electronics Engineers Inc.
ISBN（電子版）	9781509024254
DOI	https://doi.org/10.1109/IPIN.2016.7743668
出版ステータス	Published - 2016 11月 14
イベント	2016 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2016 - Madrid, Spain 継続期間: 2016 10月 4 → 2016 10月 7

Other

Other	2016 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2016
国/地域	Spain
City	Madrid
Period	16/10/4 → 16/10/7

ASJC Scopus subject areas

制御およびシステム工学
制御と最適化
器械工学

文献へのアクセス

10.1109/IPIN.2016.7743668

他のファイルとリンク

フィンガープリント

「A combined approach of Doppler and carrier-based hyperbolic positioning with a multi-channel GPS-pseudolite for indoor localization of robots」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル

Fujii, K., Yonezawa, R., Sakamoto, Y., Schmitz, A., & Sugano, S. (2016). A combined approach of Doppler and carrier-based hyperbolic positioning with a multi-channel GPS-pseudolite for indoor localization of robots. In 2016 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2016 [7743668] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IPIN.2016.7743668

A combined approach of Doppler and carrier-based hyperbolic positioning with a multi-channel GPS-pseudolite for indoor localization of robots. / Fujii, Kenjiro; Yonezawa, Ryosuke; Sakamoto, Yoshihiro その他.
2016 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2016. Institute of Electrical and Electronics Engineers Inc., 2016. 7743668.

研究成果: Conference contribution

Fujii, K, Yonezawa, R, Sakamoto, Y, Schmitz, A & Sugano, S 2016, A combined approach of Doppler and carrier-based hyperbolic positioning with a multi-channel GPS-pseudolite for indoor localization of robots. in 2016 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2016., 7743668, Institute of Electrical and Electronics Engineers Inc., 2016 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2016, Madrid, Spain, 16/10/4. https://doi.org/10.1109/IPIN.2016.7743668

Fujii K, Yonezawa R, Sakamoto Y, Schmitz A, Sugano S. A combined approach of Doppler and carrier-based hyperbolic positioning with a multi-channel GPS-pseudolite for indoor localization of robots. In 2016 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2016. Institute of Electrical and Electronics Engineers Inc. 2016. 7743668 doi: 10.1109/IPIN.2016.7743668

@inproceedings{a418cae40fd04b7ca44017bfc763f4e9,

title = "A combined approach of Doppler and carrier-based hyperbolic positioning with a multi-channel GPS-pseudolite for indoor localization of robots",

abstract = "A combined method of Doppler positioning and carrier-based hyperbolic positioning with a multi-channel GPS-pseudolite is proposed for indoor localization. This method uses carrier-phase output from a GPS/pseudolite receiver. The carrier-phase observable is precise but does not provide range information between the pseudolite and receiver antennas necessary for position calculation. This is because of the existence of carrier ambiguity. This problem can be solved by using the proposed combined method. In the present work, the positioning theory is established and experimentally evaluated with actual devices including a robot. The experimental result shows that a positioning accuracy of more than 10 cm is achievable.",

keywords = "GPS, Hyperbolic positioning, Indoor positioning, Pseudolite",

author = "Kenjiro Fujii and Ryosuke Yonezawa and Yoshihiro Sakamoto and Alexander Schmitz and Shigeki Sugano",

year = "2016",

month = nov,

day = "14",

doi = "10.1109/IPIN.2016.7743668",

language = "English",

booktitle = "2016 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2016",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

address = "United States",

note = "2016 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2016 ; Conference date: 04-10-2016 Through 07-10-2016",

}

TY - GEN

T1 - A combined approach of Doppler and carrier-based hyperbolic positioning with a multi-channel GPS-pseudolite for indoor localization of robots

AU - Fujii, Kenjiro

AU - Yonezawa, Ryosuke

AU - Sakamoto, Yoshihiro

AU - Schmitz, Alexander

AU - Sugano, Shigeki

PY - 2016/11/14

Y1 - 2016/11/14

N2 - A combined method of Doppler positioning and carrier-based hyperbolic positioning with a multi-channel GPS-pseudolite is proposed for indoor localization. This method uses carrier-phase output from a GPS/pseudolite receiver. The carrier-phase observable is precise but does not provide range information between the pseudolite and receiver antennas necessary for position calculation. This is because of the existence of carrier ambiguity. This problem can be solved by using the proposed combined method. In the present work, the positioning theory is established and experimentally evaluated with actual devices including a robot. The experimental result shows that a positioning accuracy of more than 10 cm is achievable.

AB - A combined method of Doppler positioning and carrier-based hyperbolic positioning with a multi-channel GPS-pseudolite is proposed for indoor localization. This method uses carrier-phase output from a GPS/pseudolite receiver. The carrier-phase observable is precise but does not provide range information between the pseudolite and receiver antennas necessary for position calculation. This is because of the existence of carrier ambiguity. This problem can be solved by using the proposed combined method. In the present work, the positioning theory is established and experimentally evaluated with actual devices including a robot. The experimental result shows that a positioning accuracy of more than 10 cm is achievable.

KW - GPS

KW - Hyperbolic positioning

KW - Indoor positioning

KW - Pseudolite

UR - http://www.scopus.com/inward/record.url?scp=85003794066&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85003794066&partnerID=8YFLogxK

U2 - 10.1109/IPIN.2016.7743668

DO - 10.1109/IPIN.2016.7743668

M3 - Conference contribution

AN - SCOPUS:85003794066

BT - 2016 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2016

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2016 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2016

Y2 - 4 October 2016 through 7 October 2016

ER -