2P1-J04 単一スードライトと可動型受信機を用いたロボットのための屋内測位(空間知)

概要

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Pseudolites are one of the most promising technologies for indoor localization because they can directly use off-the-shelf GPS/GNSS receivers with minor change of their firmware. However, pseudolites have some fundamental issues such as near-far, multipath, and synchronization problems. Many of these issues derive from using more than one transmitter and trilateration. In this paper, we propose a novel indoor positioning method using a movable receiver antenna and a single pseudolite. In this method, the position is determined by using the Doppler shift produced by a moving antenna. We conducted an experiment by testing different conditions of the moving antenna. The results show that our method has the potential to achieve the positioning with decimeter level accuracy.
一般社団法人日本機械学会の論文
2011-05-26