Scanning method for indoor localization using the RSSI approach
This paper presents a scanning method for indoor mobile robot localization using the received signal strength indicator (RSSI) approach. The method eliminates the main drawback of the conventional fingerprint, whose database construction is time-consuming and which needs to be rebuilt every time...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2017-06-01
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| Series: | Journal of Sensors and Sensor Systems |
| Online Access: | http://www.j-sens-sens-syst.net/6/247/2017/jsss-6-247-2017.pdf |
| Summary: | This paper presents a scanning method for indoor mobile robot
localization using the received signal strength
indicator (RSSI) approach. The method eliminates the main drawback of the conventional fingerprint, whose database
construction is time-consuming and which needs to be rebuilt every time a change in indoor environment occurs.
It directly compares the column vectors of a kernel matrix and signal
strength vector using the Euclidean distance as a metric. The highest
resolution available in localization using a fingerprint is restricted by a
resolution
of a set of measurements performed prior to localization. In contrast, resolution using the scanning method can
be easily changed using a denser grid of potential sources. Although slightly slower than the trilateration
method, the scanning method outperforms it in terms of accuracy, and yields a reconstruction error of only
0. 08 m averaged over 1600 considered source points in a room with dimensions 9.7 m × 4.7 m × 3 m.
Its localization time of 0. 39 s makes this method suitable for real-time localization and tracking. |
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| ISSN: | 2194-8771 2194-878X |