Experimental results of Locata: A high accuracy indoor positioning system

Rizos, Chris; Roberts, Gethin Wyn; Barnes, Joel; Gambale, Nunzio

doi:10.1109/ipin.2010.5647717

Cited by 56 publications

(34 citation statements)

References 3 publications

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“…It is also expected that the localization method proposed in this study can be used in an indoor field. Several studies on localization in indoor environments have been reported (Rizos et al, 2010;Widodo et al, 2013). However, the accuracy of these studies is lower than that of our proposed method.…”

Section: Discussionmentioning

confidence: 76%

Two-dimensional localization system of a legged robot for shaft tillage cultivation

Tatsuno

Tajima

Inagaki

2017

Mechanical Engineering Journal

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We studied shaft tillage cultivation as practiced by an autonomous robot. Through previous studies, we determined that leg locomotion has a higher compatibility with the shaft tillage method than wheeled locomotion. Therefore, we are currently developing a legged robot for shaft tillage cultivation. In general, robots require a positioning system to autonomously travel in fields. The objectives of this study are the development of a localization method for an agricultural legged robot and an evaluation of the localization method. We assumed that an agricultural legged robot exhibits its slowest wave gait when walking. In this gait, after each leg is sequentially moved, the body is moved forward to complete one movement. This means that the body stops for a long time despite the robot is walking. The proposed localization method utilizes this unique characteristic of the legged robot. This study first reports on the development of localization using a laser distance sensor and a pan-tilt unit. Secondly, we report on a localization experiment to evaluate the localization accuracy of the proposed method. In this experiment, a total station with automatic target recognition was used as a ground truth. From the experimental results, we found that the measurement error between the proposed method and the total station data was approximately 14 mm and 0.232• . Additionally, we found that we could improve the localization accuracy if we could fix the reflector sheet with higher accuracy and replace the laser distance sensor with a more precise resolution. Therefore, we determined that the legged robot will be able to autonomously travel with a positioning accuracy of approximately 10 mm when using the proposed localization method.

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Section: Discussionmentioning

confidence: 76%

Two-dimensional localization system of a legged robot for shaft tillage cultivation

Tatsuno

Tajima

Inagaki

2017

Mechanical Engineering Journal

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“…Locata is another proposed solution to the indoor limitations of GPS. This local positioning system emits signals that are equivalent to GPS signals for the receiving device (Rizos et al, 2010). The system is however quite expensive.…”

Section: Gpsmentioning

confidence: 99%

Bluetooth tracking of humans in an indoor environment: An application to shopping mall visits

et al. 2017

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Intelligence about the spatio-temporal behaviour of individuals is valuable in many settings. Generating tracking data is a necessity for this analysis and requires an appropriate methodology. In this study, the applicability of Bluetooth tracking in an indoor setting is investigated. A wide variety of applications can benefit from indoor Bluetooth tracking. This paper examines the value of the method in a marketing application. A Belgian shopping mall served as a real-life test setting for the methodology. A total of 56 Bluetooth scanners registered 18.943 unique MAC addresses during a 19-day period. The results indicate that Bluetooth tracking is a sound approach for capturing tracking data, which can be used to map and analyse the spatio-temporal behaviour of individuals. The methodology also provides a more efficient and more accurate way of obtaining a variety of relevant metrics in the field of consumer behaviour research. Bluetooth tracking can be implemented as a new and cost effective practice for marketing research, that provides fast and accurate results and insights. We conclude that Bluetooth tracking is a viable approach, but that certain technological and practical aspects need to be considered when applying Bluetooth tracking in new cases.

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“…The "Locata" technology is a terrestrial-based system, which uses a "local constellation" of ranging signals to address local user positioning requirements. A number of papers have been published on Locata technology for both indoor and outdoor applications [10,11,12,13,14,15].…”

Section: Introductionmentioning

confidence: 99%

Optimal Data Fusion Algorithm for Navigation Using Triple Integration of PPP-GNSS, INS, and Terrestrial Ranging System

Jiang

Rizos

2015

IEEE Sensors J.

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A good port management system must be able to perform safe, predictable and efficient execution of transport processes. In order to improve the quality of the port management, a robust navigation system is required, which enables to provide the positions of vessels 24/7 on either open or impeded environment. This paper describes a robust georeferencing system that could satisfy centimetre-level accuracy requirements in port environments. The design is based on the loosely-coupled integration of Global Navigation Satellite System (GNSS) technology, a terrestrial radio frequency ranging system known as "Locata", and an inertial navigation system (INS). GNSS observations are processed using the precise point positioning (PPP) approach instead of the conventional differential approach. To satisfy both accuracy and reliability requirements, three integration algorithms -centralised Kalman filtering (CKF), federated Kalman filtering (FKF) and global optimal filtering (GOF) -are investigated and implemented into a "triple-integrated" PPP-GNSS/Locata/INS system. A preliminary performance assessment, which is based on the analysis of real data, concludes that all the three integration algorithms are able to provide centimetre-level positioning solutions. The results show that the FKF and CKF algorithms have similar performance, whereas the GOF solution has higher accuracy. Moreover, outlier simulation is conducted and the result verifies the outlier fault-tolerant capability of the GOF based PPP-GNSS/Locata/INS integrated system.

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Experimental results of Locata: A high accuracy indoor positioning system

Cited by 56 publications

References 3 publications

Two-dimensional localization system of a legged robot for shaft tillage cultivation

Two-dimensional localization system of a legged robot for shaft tillage cultivation

Bluetooth tracking of humans in an indoor environment: An application to shopping mall visits

Optimal Data Fusion Algorithm for Navigation Using Triple Integration of PPP-GNSS, INS, and Terrestrial Ranging System

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