Design, Calibration, and Evaluation of a Long-Range 3-D Infrared Positioning System Based on Encoding Techniques

Aparicio-Esteve, Elena; Hernández, Álvaro; Ureña, J.

doi:10.1109/tim.2021.3089223

Cited by 17 publications

(7 citation statements)

References 22 publications

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“…When the OFDM signal propagates in indoor environment, the impact response of multipath channel can be expressed as Equation (2).…”

Section: System Model Of 3d Indoor Positioningmentioning

confidence: 99%

“…The expanding of indoor space of modern building facilities has derived many new services and applications based on location information, which puts forward new requirements and challenges for indoor positioning technology. Common indoor positioning technologies mainly include Inertial Navigation [1], Infrared [2], Ultrasonic [3], Radio Frequency IDentification [4], Bluetooth [5], WiFi [6], Ultra WideBand [7], Visible Light [8], and Wireless Communication Network [9]. Researchers have developed many indoor positioning methods based on these technologies [10], but most of these technologies cannot balance the positioning accuracy, coverage, and cost.…”

Section: Introductionmentioning

confidence: 99%

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A 3D Indoor Positioning Method of Wireless Network with Single Base Station in Multipath Environment

Wang

Zhao

Zheng

2022

Wireless Communications and Mobile Computing

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The proliferation of indoor location-based services has increased the demand of indoor positioning technology. Severe multipath and coherence effects are the difference between signal propagation indoors and outdoors. Most existing indoor localization methods build their models in 2-dimensional space and try to avoid the influence of multipath. We propose a method to realize 3-dimensional indoor positioning with single base station by using multipath channel. The angles of multipath coherent signals are estimated by MIMO antenna and the delays are estimated by OFDM signal. To avoid the complicated calculation in joint estimation of angles and delays in 3-dimensional space, the angles and delays are estimated separately and matched by the proposed algorithm. The line-of-sight channel is differentiated by time delay, and the reflection paths for non-line-of-sight channels are established with angle information and indoor maps. Finally, combine the angle information of the reflection paths and the line-of-sight path to obtain the target position in 3-dimensional indoor space. We verified the method through simulation in an indoor space of 6 m × 8 m × 4.5 m . The positioning errors are submeter level in 95 % cases and less than 0.4m in 60 % cases. The proposed method requires only one base station and can be applied in most wireless networks. Compared with existing indoor localization methods, it has lower computational complexity and higher application potential.

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“…When the OFDM signal propagates in indoor environment, the impact response of multipath channel can be expressed as Equation (2).…”

Section: System Model Of 3d Indoor Positioningmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A 3D Indoor Positioning Method of Wireless Network with Single Base Station in Multipath Environment

Wang

Zhao

Zheng

2022

Wireless Communications and Mobile Computing

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“…The positioning performance of the QADA receiver is investigated in several works [ 8 , 9 , 10 , 11 ]. The paper [ 12 ] considers 3D position estimation with 1D orientation estimation, i.e., it is able to determine the azimuth angle for a receiver that is pointed upwards. The paper [ 13 ] that focuses more on the communication aspects considers the effect of a tilt angle, which restricts the orientation to two degrees of freedom.…”

Section: Introductionmentioning

confidence: 99%

“…A better approach is to analyze the effect of the aperture misalignment and compensate for it through signal processing. For example, in [ 12 ], the authors propose a calibration method to compensate for the mismatch using signal processing. As the authors assume in this calibration phase that the relative distance between the LED and the receiver is known, additional equipment such as Optitrack is required to determine the ground truth on this distance.…”

Section: Introductionmentioning

confidence: 99%

“…On the other hand, a pose estimation algorithm is proposed that directly estimates the pose from the (normalized) RSS values, achieving better performance compared to the method that estimates the light spot center and then applies the camera algorithm. To this end, we first investigate the strategy of differencing and normalization to the RSS, i.e., where we only look at the relative differences between the normalized RSS values to obtain an observation that is robust against variation in received power and offsets common to all quadrants [ 12 ]. We investigate the distribution of the observation obtained from the noisy RSS values, based on which we then propose the algorithm to estimate the pose of the receiver that is more robust to noise.…”

Section: Introductionmentioning

confidence: 99%

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Pose Estimation for Visible Light Systems Using a Quadrature Angular Diversity Aperture Receiver

Shen

Sánchez

et al. 2022

Sensors

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The quadrature angular diversity aperture (QADA) receiver, consisting of a quadrant photodiode (QPD) and an aperture placed above the QPD, has been investigated for pose estimation for visible light systems. Current work on pose estimation for the QADA receiver uses classical camera sensor algorithms well known in computer vision. To this end, however, the light spot center first has to be obtained based on the RSS. However, this is less straightforward than for camera sensors, as in contrast to such sensors where the relationships are linear, the RSS output from the QADA is a non-linear function of the light spot position. When applying closed form solutions or iterative methods for cameras on a QADA, the non-linearity will degrade their performance. Furthermore, since in practice the aperture is not always perfectly aligned with the QPD, a procedure to calibrate the receiver is needed. Current work on calibration requires additional sophisticated equipment to measure the pose during calibration, which increases the difficulty of implementation. In this paper, we target the above problems for pose estimation and calibration of the QADA receiver. To this end, we first study the effect of the strategy of differencing and normalization on the probability density function (PDF), a commonly applied strategy for the QPD’s robustness against RSS variation, and it is shown that the applied strategy results in a complex PDF, which makes an effective and efficient estimation hard to achieve. Therefore, we derive an approximated PDF in a simple closed-form, based on which the calibration and the pose estimation algorithms using the least squares principle are proposed. The proposed calibration does not require any information about the pose of the receiver and is robust to variation of the received power and imperfect knowledge of the radiation pattern of the LED, making it easy to implement. We also derive the corresponding Cramér-Rao lower bound on the misalignment to benchmark the performance of the misalignment and to serve as an indicator to determine the required signal-to-noise ratio (SNR) or number of LEDs to obtain a desired accuracy. The calibration and pose estimation are evaluated by means of a Monte Carlo simulation. Computer simulations show that this theoretical bound is close to the RMSE of the proposed estimator and that the proposed pose estimator outperforms the PnP algorithm.

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Fusion consistency for industrial robot navigation: An integrated SLAM framework with multiple 2D LiDAR-visual-inertial sensors

Nam,

Danh,

Park

et al. 2024

Computers and Electrical Engineering

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Design, Calibration, and Evaluation of a Long-Range 3-D Infrared Positioning System Based on Encoding Techniques

Cited by 17 publications

References 22 publications

A 3D Indoor Positioning Method of Wireless Network with Single Base Station in Multipath Environment

A 3D Indoor Positioning Method of Wireless Network with Single Base Station in Multipath Environment

Pose Estimation for Visible Light Systems Using a Quadrature Angular Diversity Aperture Receiver

Fusion consistency for industrial robot navigation: An integrated SLAM framework with multiple 2D LiDAR-visual-inertial sensors

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