Moving Object Localization Using Sound-Based Positioning System with Doppler Shift Compensation

Widodo, Slamet; Shiigi, Tomoo; Hayashi, Naoki; Kikuchi, H; Yanagida, Keigo; Nakatsuchi, Yoshiaki; Ogawa, Yuichi; Kondo, Naoshi

doi:10.3390/robotics2020036

Cited by 38 publications

(13 citation statements)

References 31 publications

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“…Temperature differences in the greenhouse in winter, as measured by the sensor method, were larger than those observed in the summer experiment (Figure 11), as were the observed positioning errors. As the desired precision was set to a minimum of 20 mm in a previous study [22], the estimated method achieved results that were more stable and closer to the desired precision than those achieved by the sensor method. Though the estimated sound velocity method assumes that sound velocity is uniformly distributed, the result shows that it can tolerate uneven sound velocity generated by large temperature differences within a small-sized greenhouse.…”

Section: Comparison Of the Conventional Temperature Sensor Methods And The Estimated Sound Velocity Methodsmentioning

confidence: 68%

See 1 more Smart Citation

Temperature-Compensated Spread Spectrum Sound-Based Local Positioning System for Greenhouse Operations

Tsay¹,

Shiigi²,

Huang³

et al. 2020

IoT

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A spread spectrum sound-based local positioning system (SSSLPS) has been developed for indoor agricultural robots by our research group. Such an SSSLPS has several advantages, including effective propagation, low cost, and ease of use. When using sound velocity for field position measurements in a greenhouse, spatial and temporal variations in temperature during the day can have a major effect on sound velocity and subsequent positioning accuracy. In this research, a temperature-compensated sound velocity positioning was proposed and evaluated in comparison to a conventional temperature sensor method. Results indicate that this new proposed method has a positioning accuracy to within 20 mm in a 3 m × 9 m ridged greenhouse. It has the potential to replace the current system of using the temperature sensors in a greenhouse.

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Section: Comparison Of the Conventional Temperature Sensor Methods And The Estimated Sound Velocity Methodsmentioning

confidence: 68%

“…However, the speed of sound propagation is affected by the spatial variation of temperature within a greenhouse [21]. We hypothesize that position and a more representative mean sound velocity within the greenhouse can be simultaneously determined using a time of arrival (TOA) localization algorithm [22,23].…”

Section: Introductionmentioning

confidence: 99%

Temperature-Compensated Spread Spectrum Sound-Based Local Positioning System for Greenhouse Operations

Tsay¹,

Shiigi²,

Huang³

et al. 2020

IoT

Self Cite

View full text Add to dashboard Cite

show abstract

“…The research on Doppler shift has mainly focused on outdoor positioning systems. For instance, Slamet Widodo et al designed a GPS-based positioning system that used Doppler shift compensation for moving target positioning [41]. In their research, the Doppler shift was estimated by detecting the maximum value of the power spectrum and was then used to re-generate a new referred signal to estimate the arrival time.…”

Section: Discussionmentioning

confidence: 99%

Acoustic Indoor Localization System Integrating TDMA+FDMA Transmission Scheme and Positioning Correction Technique

Chen

Cao

et al. 2019

Sensors

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This paper presents a novel audio indoor localization system. In the proposed system, four speakers placed at known positions transmit chirp signals according to the time-division multiple access (TDMA) plus frequency-division multiple access (FDMA) transmission scheme. A smartphone receives the signal via a built-in microphone and calculates the time differences of arrival (TDOAs). Using TDOA measurements, the position is estimated by the shrinking-circle method. In particular, to reduce the positioning error in moving conditions, a TDOA correction method based on Doppler shifts is proposed. The performance of the proposed system was evaluated in real-world experiments using a 10.971 m × 5.684 m positioning area. The results of the static-target positioning experiment showed that the TDMA+FDMA transmission scheme has more advantages in improving the update rate of the positioning system than the TDMA-only transmission scheme. The results of the moving-target positioning experiment under three different speeds demonstrated that the positioning errors were reduced by about 10 cm when the Doppler-shift-based TDOA correction method was adopted. This research provides a possible framework for the realization of a TDOA-chirp-based acoustic indoor positioning system with high positioning accuracy and update rate.

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“…However, it must be noted that if the measured object moves with a relatively high speed, the Doppler shift cannot be neglected any more, which will influence the echo profile and seriously weaken the sequence correlation performance, making it hard to match the echo directly [20]. Typical solutions for Doppler compensation include the application of Doppler filters and optimal codes with shift multiplication characteristics [21][22][23]. However, the calculation cost is considerable for small platforms when using Doppler filters, and when utilizing the optimal codes the optimal sequences are not easy to find.…”

Section: Introductionmentioning

confidence: 99%

Design of a fast echo matching algorithm to reduce crosstalk with Doppler shifts in ultrasonic ranging

Liu

Guo

2017

Meas. Sci. Technol.

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2017). Design of a fast echo matching algorithm to reduce crosstalk with Doppler shifts in ultrasonic ranging. Measurement Science and Technology, 28(2), [025103]. AbstractCrosstalk is a main factor for wrong distance measurement by ultrasonic sensors, and this problem becomes more difficult to deal with under Doppler effects. In this paper, crosstalk reduction with Doppler shifts on small platforms is focused on, and a fast echo matching algorithm (FEMA) is proposed on the basis of chaotic sequences and pulse coding technology, then verified through applying it to match practical echoes. Finally, we introduce how to select both better mapping methods for chaotic sequences, and algorithm parameters for higher achievable maximum of cross-correlation peaks. The results indicate the following: logistic mapping is preferred to generate good chaotic sequences, with high autocorrelation even when the length is very limited; FEMA can not only match echoes and calculate distance accurately with an error degree mostly below 5%, but also generates nearly the same calculation cost level for static or kinematic ranging, much lower than that by direct Doppler compensation (DDC) with the same frequency compensation step; The sensitivity to threshold value selection and performance of FEMA depend significantly on the achievable maximum of cross-correlation peaks, and a higher peak is preferred, which can be considered as a criterion for algorithm parameter optimization under practical conditions.

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Moving Object Localization Using Sound-Based Positioning System with Doppler Shift Compensation

Cited by 38 publications

References 31 publications

Temperature-Compensated Spread Spectrum Sound-Based Local Positioning System for Greenhouse Operations

Temperature-Compensated Spread Spectrum Sound-Based Local Positioning System for Greenhouse Operations

Acoustic Indoor Localization System Integrating TDMA+FDMA Transmission Scheme and Positioning Correction Technique

Design of a fast echo matching algorithm to reduce crosstalk with Doppler shifts in ultrasonic ranging

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