Indoor Navigation System by Combining Ultrasonic Wave TOA and Inertial Measurement

Tientadakul, Romprakhun; Nakanishi, Hiroaki; Shiigi, Tomoo; Huang, Zonghao; Tsay, Lok Wai Jacky; Kondo, Naoshi

doi:10.23919/sice48898.2020.9240233

Cited by 3 publications

(1 citation statement)

References 4 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…While it can be anticipated that when the robot is moving at a higher speed, the position error will also increase according to the simulation model. It is possible to combine SSSLPS with other localization systems such as inertial measurement units as a hybrid system that our team simulated the improved localization results using the data from the accelerometer and gyroscope [20] . Another possible approach to increase TDMA performance is to increase the update frequency by a shorter sound signal.…”

Section: Table 2 Results Of the Twenty-one Statics Points In Kizu Gre...mentioning

confidence: 99%

Static and dynamic evaluations of acoustic positioning system using TDMA and FDMA for robots operating in a greenhouse

Tsay

Shiigi

Zhao

et al. 2022

International Journal of Agricultural and Biological Engineering

View full text Add to dashboard Cite

Acoustic positioning system has great potential to be applied in a greenhouse due to its centimeter-level accuracy, low cost, and ability of extensive greenhouse coverage. Spread Spectrum Sound-based local positioning system (SSSLPS) was proposed to be a navigation tool for multiple agricultural robots by the authors' research team. However, to increase the system capacity for positioning multiple robots in a greenhouse, the near-far problem caused by the interference between speakers needs to be overcome. The use of different access methods, Time Division Multiple Access (TDMA) or Frequency Division Multiple Access (FDMA), is essential in the SSSLPS system for solving the near-far problem. The static positioning in a greenhouse was first evaluated by setting different parameters to determine the optimal signal setting for a dynamic experiment. From that, the moving robot tests were added with a motion capture system and tested the performance of TDMA and FDMA. The results demonstrated that TDMA can be used in a stationary sound-based positioning system with 12.2 mm accuracy, but it has a time delay problem in dynamic positioning. A simulation was designed to mimic the position error increases with different moving speeds. Although FDMA has the sound damping problem in high-frequency regions creating a peak detection issue, it achieved a higher accuracy with an average position error of 62.1 mm compared to 180.3 mm of TDMA. This study shows that the TDMA method is suitable for static measurements, while the FDMA method is suitable for measuring dynamic objects and controlling mobile robots.

show abstract

Section: Table 2 Results Of the Twenty-one Statics Points In Kizu Gre...mentioning

confidence: 99%

Static and dynamic evaluations of acoustic positioning system using TDMA and FDMA for robots operating in a greenhouse

Tsay

Shiigi

Zhao

et al. 2022

International Journal of Agricultural and Biological Engineering

View full text Add to dashboard Cite

show abstract

Sequential structured volumetric ultrasound holography for self-positioning using monaural recording

Mukai

Hasegawa

Nara

2021

The Journal of the Acoustical Society of America

View full text Add to dashboard Cite

In this article, a structured acoustic holography technique in the self-positioning method of a single microphone from the monaurally recorded signals is proposed. A series of three-dimensional ultrasonic holograms, designed for positioning in a workspace, are sequentially projected. As a result, the microphone receives a position-dependent sequence of amplitude signals encoded with information on the observation position. Subsequently, the microphone position is determined by obtaining the peak position of the cross-correlation function between the received signal and the reference signal. Experiments were conducted using a custom-made phased array of 40-kHz ultrasound transducers to evaluate the positioning accuracy. It is demonstrated that when applied to a 100×100×50 mm3 workspace, the measurement error was less than 1 mm at all observation points in the numerical experiment, which was maintained for more than 96% of the points in the real-environment experiments. The proposed method is advantageous in that it does not use the phase information of the recorded signals, thus requiring no multiple synchronized recordings as the microphone-array-based methods. In addition, this scheme does not directly use the absolute value of the received amplitude as a positioning clue, which means that no amplitude-to-voltage calibration is required.

show abstract

Spread Spectrum Sound with TDMA and INS Hybrid Navigation System for Indoor Environment

Tientadakul¹,

Nakanishi²,

Shiigi³

et al. 2021

JRM

View full text Add to dashboard Cite

Indoor navigation plays an essential role in agricultural robots that operate in greenhouses. One of the most effective methods for indoor navigation is the spread spectrum sound (SS-sound) system. In this system, the time of arrival (ToA) of the spread spectrum modulated sound is used for localization. However, there is a near-far problem. Transmitting the SS-sound from multiple anchors using time division multiple access (TDMA) is adequate to solve the near-far problem. However, localization is impossible because the ToA from multiple anchors cannot be simultaneously acquired. To solve this problem, a method for combining the SS-sound system with TDMA and an inertial navigation system is proposed in this study. The effectiveness of the proposed method was demonstrated through numerical simulations of a ground robot and experimentally using a crawler robot.

show abstract

Indoor Navigation System by Combining Ultrasonic Wave TOA and Inertial Measurement

Cited by 3 publications

References 4 publications

Static and dynamic evaluations of acoustic positioning system using TDMA and FDMA for robots operating in a greenhouse

Static and dynamic evaluations of acoustic positioning system using TDMA and FDMA for robots operating in a greenhouse

Sequential structured volumetric ultrasound holography for self-positioning using monaural recording

Spread Spectrum Sound with TDMA and INS Hybrid Navigation System for Indoor Environment

Contact Info

Product

Resources

About