NDLI: A Simple Ultrasonic GPS System for Indoor Mobile Robot System using Kalman Filtering

Content Provider	IEEE Xplore Digital Library
Author	Kyung-Hun Hwang Do-Eun Kim Dong-Hun Lee Tae-Young Kuc
Copyright Year	2006
Description	Author affiliation: Sch. of Inf. & Commun. Eng., Sung Kyun Kwan Univ., Suwon (Kyung-Hun Hwang; Do-Eun Kim; Dong-Hun Lee; Tae-Young Kuc)
Abstract	This paper introduces a simple indoor GPS system using ultrasonic sensor. Conventional ultrasonic GPS systems require at least 3 transmitters, which restricts update time of location information by 5 cycles/sec so that the ultrasonic waves from the 3 transmitters do not overlap. This system consists of 1 transmitter having ultrasonic and RF and 2 receivers. The transmitter irradiates RF and ultrasonic, and the receivers calculate corresponding distance with reference to the RF signal. The 2 distance values are used for determining the location of the transmitter by trigonometrical functions. Due to the characteristics of ultrasonic sensors, noise occurs in sensor values by surrounding temperature or obstacle. Location error is minimized by prediction and correction of the noise with linear Kalman filter. In order to prove the effectiveness of this system, experiments were carried out in a room dimensioned by 3.5 m*2.2 m, wherein the location error showed 2 cm max
Starting Page	2915
Ending Page	2918
File Size	3749261
Page Count	4
File Format	PDF
ISBN	8995003847
DOI	10.1109/SICE.2006.314996
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-18
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	The Institute of Control, Automation and Systems
Subject Keyword	Global Positioning System Mobile robots Kalman filters Transmitters Temperature sensors Radio frequency Sensor phenomena and characterization Filtering Sensor systems Error correction Kalman Filter Ultrasonic GPS
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

A modified Cricket method for mobile robots using Zigbee and ultrasonic sensors

Robust mobile robot localization with combined Kalman filter-perturbation estimator

Quantitative comparison between Kalman filter and Particle filter for low cost INS/GPS integration

GPS-compatible indoor-positioning methods for indoor-outdoor seamless robot navigation

Bias estimation of DGPS multi-path data for localization of mobile robot

A correction system of odometry error for simultaneous map building based on sensor fusion

Performance Enhancement of Indoor Mobile Localization System using Unscented Kalman Filter

The Design of the Spherical Robot Autonomous GPS-Based Positioning and Navigation System

Accurate positioning for real-time control purpose integration of GPS, NAV200 and encoder data

A Simple Ultrasonic GPS System for Indoor Mobile Robot System using Kalman Filtering

Similar Documents

A modified Cricket method for mobile robots using Zigbee and ultrasonic sensors

Robust mobile robot localization with combined Kalman filter-perturbation estimator

Quantitative comparison between Kalman filter and Particle filter for low cost INS/GPS integration

GPS-compatible indoor-positioning methods for indoor-outdoor seamless robot navigation

Bias estimation of DGPS multi-path data for localization of mobile robot

A correction system of odometry error for simultaneous map building based on sensor fusion

Performance Enhancement of Indoor Mobile Localization System using Unscented Kalman Filter

The Design of the Spherical Robot Autonomous GPS-Based Positioning and Navigation System

Accurate positioning for real-time control purpose integration of GPS, NAV200 and encoder data

A Simple Ultrasonic GPS System for Indoor Mobile Robot System using Kalman Filtering