Real-time kinematic Doppler pose estimation for IMES
Real-time kinematic Doppler pose estimation for IMES
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DOI：
10.1109/aim.2013.6584274
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发表时间：
2013-07
期刊：
影响因子：
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通讯作者：
Y. Sakamoto;T. Ebinuma;K. Fujii;S. Sugano
中科院分区：
文献类型：
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作者：
Y. Sakamoto;T. Ebinuma;K. Fujii;S. Sugano
为了在“室内信息系统”（IMES）发射机的作用下实现厘米到分米级的室内定位精度，提出了一种实时运动学（RTK）多普勒姿态估计方法。在这种方法中，通过移动接收天线，在从IMES发射机发射的载波中产生多普勒频移。然后利用多普勒频移、接收机的倾角以及接收机天线和发射机之间的几何关系实时确定接收机的姿态（位置和方向）。为了验证所提出的方法，在移动机器人上进行了实验。实验结果表明，该方法可实现10 cm左右的定位精度。
In order to achieve the indoor localization with centimeter- to decimeter-level positioning accuracy under the use of the transmitters of “indoor messaging system” (IMES), a method called “real-time kinematic (RTK) Doppler pose estimation” is proposed. In this method, Doppler shifts are produced in the carrier waves transmitted from the IMES transmitters by moving the receiver antennas. The pose (position and orientation) of the receiver is then determined in real-time by using the Doppler shifts, inclination of the receiver, and geometric relation between the receiver antennas and transmitters. To evaluate the proposed method, an experiment with a mobile robot is conducted. The results of the experiment show that the proposed method can achieve a positioning accuracy of about 10 cm.