A Forward Link ADA Positioning method for mobile Robots

이동 로봇을 위한 순방향 링크 AOA 측위 방법

  • 김동혁 (충남대학교 정보통신공학과) ;
  • 송승헌 (충남대학교 정보통신공학과) ;
  • 노기홍 (충남대학교 정보통신공학과) ;
  • 성태경 (충남대학교 전기정보통신공학부)
  • Published : 2007.06.01


In the conventional AOA(angle-of-arrival) positioning utilizing reverse-link wireless channel, each sensor should be equipped with an array antenna to measure the incident angle of signal transmitting from a tag. To perform the complicated signal processing for angle measurements, sensor size and its power consumption will be large. In some applications like mobile robot location, there exists no strict restriction in tag size or in power consumption. Rather, it is desirable that the sensor would be as small as possible. This paper presents a new AOA positioning method utilizing forward-link channel. Under the assumption that the mobile robot is operating on the flat surface, the measurement model for FLAOA(tiJrward-link AOA) is derived first. Two kinds of position estimation algorithms using FLAOA measurements are proposed; Gauss-Newton method and closed-fonn solution method. With the proposed methods, we can ohtain the attitude of robot as well as its position. Positioning performance of proposed methods is compared by computer simulation. Simulation results show that the closed-form solution method using FLAOA measurements is suitable for indoor robot positioning.


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