The Journal of Korean Institute of Electromagnetic Engineering and Science (한국전자파학회논문지)

The Korean Institute of Electromagnetic Engineering and Science (한국전자파학회)
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Indoor Positioning System Using Robust Outlier Extended Kalman Filter

이상 잡음에 강인한 확장 칼만 필터를 이용한 실내 위치 추정 시스템

  • Kim, Dong-Seon (Department of Electronic Computer Communication Engineering, Hanyang University) ;
  • Yeom, Hak-Sun (Department of Electronic Computer Communication Engineering, Hanyang University) ;
  • Kim, Sun-Woo (Department of Electronic Computer Communication Engineering, Hanyang University)
  • 김동선 (한양대학교 전자컴퓨터통신공학과) ;
  • 염학선 (한양대학교 전자컴퓨터통신공학과) ;
  • 김선우 (한양대학교 전자컴퓨터통신공학과)
  • Published : 2009.09.30
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Abstract

In this paper, Indoor Positioning System based on Wi-Fi system which is one of the key technology in LBS(Location Based Service) is proposed. The proposed system estimates distance between MS(Mobile Station) and AP(Access Point) using RSSI(Received Signal Strength Indicator). RSSI is affected by outlier that originate from indoor environment complexity and obstacle. In this paper, we introduce a Robust outlier Extended Kalman Filter that can ignore, real-time outlier in the observations. To demonstrate performance of proposed indoor positioning system, we used a PDA as the MS.

본 논문에서는 위치 기반 서비스(Location Based Service: LBS)의 핵심 기술에 속하는 측위 기술 중 Wi-Fi을 이용한 실내 위치 추정 시스템(Indoor Positioning System)을 제안한다. 제안하는 측위 시스템은 수신 받은 신호의 세기(Received Signal Strength Indicator: RSSI)를 경로 손실 모델(Path-Loss Model)을 이용하여 단말기와 AP(Access Point) 간의 거리를 추정한다. RSSI는 실내 환경 구조나 장애물 등으로 인해 발생하는 이상 잡음(outlier)의 영향을 받는다. 이러한 이상 잡음을 제거하기 위해 본 논문에서는 이상 잡음에 강인한 확장 칼만 필터를 이용한 측위 시스템을 제안한다. 본 논문에서 제안하는 측위 시스템의 성능을 확인하기 위해 단말기로 PDA를 이용하였으며, 실내 측위 시스템을 구현한 결과를 통해 원활한 실내 측위가 가능하다는 것을 확인하였다.

Keywords

References

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