Low cost indoor ultrasonic positioning implemented in FPGA

Abstract

Esta es la versión de autor de la comunicación de congreso publicada en: This is an author produced version of a paper published in: Abstract-This paper presents a low cost indoor ultrasonicbased positioning system. This system allows the mobile nodes of a Wireless Sensor Network to know their location using radiofrequency and ultrasonics. To achieve this goal, a matrix of transmitting anchor points is installed whereas the mobile nodes receive these transmitted signals and estimate the time-of-flight of the ultrasonic signals. Using two time-of-flight measurements and trilateration equations, the location of the mobile nodes can be inferred in a 2-D space.

Simplified Occupancy Grid Indoor Mapping Optimized for Low-Cost Robots

“…In this proposal, given the importance of localization for mapping, localization is addressed using both odometry and a beacon system based on ultrasound [16,17]. The encoders enable the continuous localization of the robot while it moves, but its error, although small, is cumulative.…”

“…The position of the robot is obtained using a system based on ultrasonic beacons, particularly, the method proposed in [16,17]. It measures the distances to three anchor points (ultrasound emitters) using the time of flight of the ultrasonic waves.…”

ALO: An ultrasound system for localization and orientation based on angles

“…Examples of systems that use this technology are the BAT Ultrasonic Location System [4], The MIT Cricket Indoor System [5,6], the system developed at the UAM [7,8] or the Single Compact Base Station system [9]. In all these proposals, the anchor points are deployed in the ceiling, except in [9], where the three transmitters are included in a compact platform.…”

Autonomous indoor ultrasonic positioning system based on a low-cost conditioning circuit

“…In order to avoid interferences between consecutive ultrasonic transmissions and their reflections, there is a guard interval of 200 ms between location frames. The electronic details of the proposed anchor points are explained in paper [18].…”