Position error due to distance error in the localization system using Ultrasonic

초음파를 이용한 위치 인식 시스템의 거리오차와 비이컨의 좌표에 의한 위치오차

This paper presents position error for the robot localization system using the ultrasonic wave. The distance between the receiver and a beacon can be computed by using the difference between times of flight. The distance information measured by ultrasonic wave has errors. The position is calculated by distances, and this error is caused by distance errors. The position error is different from receiver¡s position. And the position is also calculated by beacon location. This paper calculates worst case position error within measuring area, and finds beacons location to reduce the position error.