Indoor Heading Measurement System

Abstract

This paper analyses iGPS as stand alone system for vehicle heading measurement and presents iGPS and gyro fusion algorithm based on Kalman filter. This solution has advantage of reduced heading measurement delay, higher measurement update ratio and also increased resistance to iGPS outage, which makes it more suitable for indoor and outdoor precise navigation.

A large scale 3D positioning method based on a network of rotating laser automatic theodolites

“…In recent years, rotating laser automatic theodolites (RLATs) have been used as part of a network of such devices to form a highly adaptable large scale 3D positioning system, in which each RLAT consists of two laser fans rotating about its own Z axis at constant speed and an optical sensor is used to detect the pulse signals of sweeping laser fans. A patented system is known commercially as iGPS (indoor Global Positioning System), which has been demonstrated in various applications such as jigless assembly of aircraft structures, navigation of robots [4][5] [7] [8]. In iGPS, the network of measuring stations consists of transmitters with two rotating laser fans and optical sensor, the optical sensor captures the pulse signals as soon as the laser fans sweeping over it, and converted the pulse time into corresponding horizontal angles and vertical angles of laser fans at that moments.…”