• Journal of Institute of Control, Robotics and Systems
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• v.11 no.12
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• pp.996-1001
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• 2005

Recently, with the development of service robots and with the new concept of ubiquitous world, the position estimation of mobile objects has been raised to an important problem. As pre-liminary research results, some of the localization schemes are introduced, which provide the relative location of the moving objects subjected to accumulated errors. To implement a real time localization system, a new absolute position estimation method for a mobile robot in indoor environment is proposed in this paper. Design and implementation of the localization system comes from the usage of active beacon systems (based upon RFID technology). The active beacon system is composed of an RFID receiver and an ultra-sonic transmitter: 1. The RFID receiver gets the synchronization signal from the mobile robot and 2. The ultra-sonic transmitter sends out the traveling signal to be used for measuring the distance. Position of a mobile robot in a three dimensional space can be calculated basically from the distance information from. Three beacons and the absolute position information of the beacons themselves. In some case, the mobile robot can get the ultrasonic signals from only one or two beacons, because of the obstacles located along the moving path. Therefore, in this paper, as one of our dedicated contribution, the position estimation scheme with less than three sensors has been developed. Also, the extended Kalman filter algorithm is applied for the improvement of position estimation accuracy of the mobile robot.

• The Journal of Korea Robotics Society
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• v.2 no.1
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• pp.40-47
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• 2007

Recently, with the development of service robots and with the new concept of ubiquitous world, the position estimation of mobile objects has been raised to an important problem. As pre-liminary research results, some of the localization schemes are introduced, which provide the absolute location of the moving objects subjected to large errors. To implement a precise and convenient localization system, a new absolute position estimation method for a mobile robot in indoor environment is proposed in this paper. Design and implementation of the localization system comes from the usage of active beacon systems (based upon RFID technology). The active beacon system is composed of an RFID receiver and an ultra-sonic transmitter: 1. The RFID receiver gets the synchronization signal from the mobile robot and 2. The ultra-sonic transmitter sends out the traveling signal to be used for measuring the distance. Position of a mobile robot in a three dimensional space can be calculated basically from the distance information from three beacons and the absolute position information of the beacons themselves. Since it is not easy to install the beacons at a specific position precisely, there exists a large localization error and the installation time takes long. To overcome these problems, and provide a precise and convenient localization system, a new auto calibration algorithm is developed in this paper. Also the extended Kalman filter has been adopted for improving the localization accuracy during the mobile robot navigation. The localization accuracy improvement through the proposed auto calibration algorithm and the extended Kalman filter has been demonstrated by the real experiments.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.2
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• pp.217-222
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• 2006

To find a location, GPS has been wildly used. But, it is hard to use in indoor because of very weak signal level. To meet indoor requirements, there have been many studies applying wireless communication networks such as WLAN, UWB and ZigBee. Among these, ZigBee is widely adopted in many WSN applications because it has an advantage of low-power and low-cost. In ZigBee, the RSSI is used as range measurement for ad-hoc network. The RSSI are converted to ranges using the signal attenuation model and these ranges become inputs of positioning methods. The obtained position with RSSI has large error because of its poor accuracy. To overcome this problem, ultrasonic sensors are added in many researches. By measuring the arrival time difference of ZigBee and ultrasound as a range measurement, the precise position can be found. However, there are still many problems: scheduling of beacons to transmit signals in a correct order, addition and synchronization of beacons and low-rate positioning rate. At this paper, an efficient method to solve these problems is proposed. In the proposed method, a node transmits ZigBee and ultrasound signal simultaneously. And beacons find the range with the received signals and send it back to a node with ZigBee. The position is computed in a node with the received ranges. In addition, a new positioning algorithm to solve the risk of the divergence in the linearization method and the singularity problem in the Savarese method is presented. Both static and dynamic experimental results show 0.02m RMS errors with high output rate.

• Journal of Convergence for Information Technology
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• v.11 no.8
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• pp.14-22
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• 2021

As the Covid-19 outbreak spreads and prolongs around the world, visitor lists are prepared in various ways when entering the facility to prevent infection and identify confirmed people. In this study, we propose an access management system using beacons to solve the problems with the preparation and management of existing visitor lists. The research method searches the laws related to the collection of personal information and compares the current status of personal information collection and trends in the beacons. The proposed system compares and analyzes existing methods and security and efficiency, which confirm accurate and rapid access registration. By using Beacon access management system, it is effective in preventing and responding to the spread of new infectious diseases in the future.

• Journal of Advanced Navigation Technology
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• v.22 no.6
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• pp.514-521
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• 2018

COSPAS-SARSAT 406 MHz emergency beacons include ELTs for aviation, EPIRBs for maritime, and PLBs for individuals in distress. They are used to sending messages encoded on 406 MHzdistress frequency and sending alertsfor search and rescue in distress. C/S T.001 and T.018 are COSPAS-SARSAT technical documents. They include basic technical information needed for developing beacons, howmessages are constructed, and test methods for type approval. COSPAS-SARSAT systems that use existing low earth orbit (LEO) and geostationary earth orbit (GEO) satellites do not have a return link service (RLS). So, the survivors could not confirm whether the distress signal was sending or not. However, a new medium earth orbit (MEO)satellite system has been added to thissystem, allowing confirmation through the RLS function. This paper analyzed C/S T.001 and T.018 needed to develop navigation structuresthat incorporated improved PLB of 406 MHz, a homing signal generator of 121.5 MHz, and a VHF AM transmitter for aviation of 243 MHz.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.11
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• pp.570-576
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• 2020

This study uses beacons and smartphone Global Positioning System (GPS) receivers to establish a location-based disaster/hazard prediction system. Beacons are usually installed indoors to locate users using triangulation in the room, but this study is differentiated from previous studies because the system is used outdoors to collect information on registration location and temperature and humidity in hazardous areas. In addition, since it is installed outdoors, waterproof, dehumidifying, and dustproof functions in the beacons themselves are required, and in case of heat and humidity, the sensor must be exposed to the outside, so the waterproof function is supplemented with a separate container. Based on these functions, information on declining and vulnerable areas is identified in real time, and temperature/humidity information is collected. We also propose a system that provides weather and fine-dust information for the area concerned. User location data are acquired through beacons and smartphone GPS receivers, and when users transmit from declining or vulnerable areas, they can establish the data to identify dangerous areas. In addition, temperature/humidity data in a microspace can be collected and utilized to build data to cope with climate change. Data can be used to identify specific areas of decline in a microspace, and various analyses can be made through the accumulated data.

• Proceedings of the Korean Information Science Society Conference
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• 2010.11a
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• pp.99-100
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• 2010

• Journal of the Korean Institute of Navigation
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• v.24 no.5
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• pp.405-415
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• 2000

DGPS/Radio beacons are currently being planned or installed in many countries. They offer a cost-effective way of distributing differential data to large number of users. These networks are also being deployed in South Korea, Japan, and China. Several DGPS stations among them are operating on the same frequencies. The DGPS signal based on a radio beacon in medium frequency band travels principally as a groundwave over the surface of the earth. The signal may also be received as skywaves at locations beyond about 100 km from the reference station. These skywaves interfere with groundwave signals due to fading. This factor has generally ignored in designing DGPS/Radio beacon systems. A further important factor is to reduce the coverage due to interference from other beacons on the same or adjacent frequencies. The desired signal may fade due to interaction between its skywave and groundwave components. It may degrade the accuracy of the positioning in a complex fashion. This paper estimates the coverage of Far East Asia DGPS stations which are operating on the same frequencies, which is based on the signal protection ratio and interference of the signal strength of the groundwave and skywave.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1775-1780
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• 2005

One of the most important factors so that mobile objects can achieve their purpose is the information about their positions. In this paper, we propose an improved beacon system, to which ultrasonic sensors are attached, for the indoor localization of mobile objects. We have researched so that it can cover the wider space and estimate more accurate positions than the existent beacon systems. The existent beacon systems have the constraint that one beacon cannot cover wide area since ultrasonic sensors have limits in the angle of signal (beam-angle) on which their signal strength depends. Hence, we used the active beacon which consists of a pan-tilt mechanism and a beacon module. The active beacon system can always aim at mobile objects in order to transmit the strongest signal of the ultrasonic sensors into the objects using the pan-tilt mechanism. In addition, this system is inexpensive because it can decrease the number of beacons by about a half of the beacons of the existent system. Finally, the results show what is the difference between the active beacon system and existent beacon systems, and how accurate it is.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.18 no.2
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• pp.157-162
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• 2018

Tracking the location of patients in medical facilities is important to guarantee the patients' safety and to improve the service quality. Previous studies related to location tracking systems based on Bluetooth communication need numerous prerequisite information and multiple devices to improve the accuracy. In this paper, we propose a beacon-based space partition scheme that assigns different arrangement patterns of beacons to different spaces and composes groups with the similar value of RSSI to minimize prerequisite information and the number of beacons. The proposed scheme considers a pattern arrangement scheme to minimize intereference between neighbor patterns. We also verified the applicability of our scheme to monitor the patient location by using experimental results.