Indoor robot/human localization using dynamic triangulation and wireless Pyroelectric Infrared sensory fusion approaches

Abstract

Indoor localization and monitoring system of robots and people are essential issues in robotics research.Several monitoring systems are currently under development by different investigators but they do encounter significant difficulties. For instance, a Pyroelectric Infrared (PIR) system provides less accurate information of human location and is restricted when there are multiple targets. Furthermore, a Radio Frequency (RF) localization system is constrained by its limited accuracy.In this study, we develop a system which combines PIR and RF localization system as wireless pyroelectric infrared sensory fusion system to monitor the location information of robots and people. We will reduce the error of RF localization information through tile proposed dynamic triangulation (DTN) method. We also develop a sensory fusion a1goritllm called the WPIR inference algorithm. This algorithm determines the fused position from both the PIR localization system and radio frequency signal localization system which utilize tile received signal strength (RSS) propagation model.We have developed and experimentally demonstrated a WPIR sensory fusion system which can be successfully applied in locating targets such as people and robot. With an accurate localization mechanism for tile indoor environment, tile provision of appropriate services to people can be realized.

A study of a less sensitive positioning method to forms of AP placements

“…The trilateration algorithm is widely used in localization systems and algorithms, such as the dynamic triangulation method using wireless pyroelectric infrared sensors and the autolocalization algorithm using trilateration for mobile localization [6,7]. The Least-Square (LS) method is one of the typical localization methods.…”

An Indoor Positioning Approach Based on Fusion of Cameras and Infrared Sensors

“…They exploit the benefits of having an available infrastructure in the environment reducing, consequently, costs and sensor design effort at the expense of reaching lower precision than an ad-hoc sensorial positioning system, as the networks are originally conceived for communication purposes. They usually operate using RSS (Received Signal Strength) signals [6] to directly obtain distance estimations upon signal level measurements, or fingerprinting-based approaches relying on previously acquired radiomaps [5].…”

“…There is no dominant approach in fusion of cameras with other sensors in positioning and navigation applications. In [6], a human localization system is proposed based on fusion of RF and IR pyroelectric sensors, with signal strength (RSS) measurements, is proposed. In [29], a fusion approach with inertial measurement units (IMUs) and…”

“…where d i and d r are computed as in (6). The covariance matrix of the NLLS estimator in (12) is then [49,50].…”

Error Minimization Algorithm Using Barycentric Coordinates for Wireless Positioning Systems

“…Therefore, the location of mobile nodes can be found by applying the distance information between AP and mobile node, which is measured by TOA or RSSI method, in trilateration algorithm. The trilateration algorithm is widely used in positioning systems and algorithms, such as the dynamic triangulation method using wireless pyroelectric infrared sensors and the auto-localization algorithm using trilateration for mobile positioning [11,12]. The least-square method is one of the typical positioning methods.…”