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Electronics and Telecommunications Research Institute (한국전자통신연구원)
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Robust range-only beacon mapping in multipath environments

  • Park, Byungjae (Intelligence and Robot Research Session, Electronics and Telecommunications Research Institute) ;
  • Lee, Sejin (Department of Mechanical and Automotive Engineering, Kongju National University)
  • Received : 2018.11.12
  • Accepted : 2019.04.07
  • Published : 2020.02.07
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Abstract

This study proposes a robust range-only beacon mapping method for registering the locations of range-only beacons automatically. The proposed method deals with the multipath propagation of signals from range-only beacons using the range-only measurement association (RoMA) and an unscented Kalman filter (UKF). The RoMA initially predicts the candidate positions of a range-only beacon. The location of the range-only beacon is then updated using the UKF. With the proposed method, the locations of range-only beacons are accurately estimated in a multipath environment. The proposed method also provides the location uncertainty of each range-only beacon. Simulation results using the model for multipath propagation and experimental results in a real indoor environment verify the performance of the proposed method.

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References

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