• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.24 no.1
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• pp.65-71
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• 2006

There has been equipped wireless network infrastructure making possible to contact mobile computing at buildings, university, airport etc. Due to increase of mobile user dramatically, it raises interest about application and importance of LBS. The purpose of this study is to develop an indoor positioning system which is position of mobile users using Wireless LAN signal strength. We present Euclidean distance model and Bayesian inference model for analyzing position determination. The experimental results showed that the positioning of Bayesian inference model is more accurate than that of Euclidean distance model. In case of static target, the positioning accuracy of Bayesian inference model is within 2 m and increases when the number of cumulative tracking points increase. We suppose, however, Bayesian inference model using 5- cumulative tracking points is the most optimized thing, to decrease operation rate of mobile instruments and distance error of tracking points by movement of mobile user.

• The Journal of Korea Robotics Society
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• v.11 no.3
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• pp.127-132
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• 2016

For a practical mobile robot team such as carrying out a search and rescue mission in a disaster area, the localization have to be guaranteed even in an environment where the network infrastructure is destroyed or a global positioning system (GPS) is unavailable. The proposed architecture supports localizing robots seamlessly by finding their relative locations while moving from a global outdoor environment to a local indoor position. The proposed schemes use a cooperative positioning system (CPS) based on the two-way ranging (TWR) technique. In the proposed TWR-based CPS, each non-localized mobile robot act as tag, and finds its position using bilateral range measurements of all localized mobile robots. The localized mobile robots act as anchors, and support the localization of mobile robots in the GPS-shadow region such as an indoor environment. As a tag localizes its position with anchors, the position error of the anchor propagates to the tag, and the position error of the tag accumulates the position errors of the anchor. To minimize the effect of error propagation, this paper suggests the new scheme of full-mesh based CPS for improving the position accuracy. The proposed schemes assuring localization were validated through experiment results.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.4
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• pp.379-384
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• 2013

We propose a new global positioning method for the indoor mobile robots. The multiple indoor lights fixed in ceiling are used as the landmarks of positioning system. The ceiling images are acquired by the fisheye lens camera mounted on the moving robot. The position and orientation of the lights are extracted by binarization and labeling techniques. Also the boundary lines between ceiling and walls are extracted to identify the order of each light. The robot position is then calculated from the extracted position and known position of the lights. The proposed system can increase the accuracy and reduce the computation time comparing with the other positioning methods using natural landmark. Experimental results are presented to show the performance of the method.

• Journal of Electrical Engineering and Technology
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• v.12 no.3
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• pp.1286-1291
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• 2017

In this paper, we propose an indoor positioning system that makes use of the attenuation model for IEEE 802.11 Channel State Information (CSI) in order to determine its distance from an Access Point (AP) at a fixed position. With the use of CSI, we can mitigate the problems present in the use of Received Signal Strength Indicator (RSSI) data and increase the accuracy of the estimated mobile device's location. For the experiments we performed, we made use of the Intel 5300 Series Network Interface Card (NIC) in order to receive the channel frequency response. The Intel 5300 NIC differs from its counterparts in that it can obtain not only the RSSI but also the CSI between an access point and a mobile device. We can obtain the signal strengths and phases from subcarriers of a system which in turn means making use of this data in the estimation of a mobile device's position.

• Proceedings of the KSRS Conference
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• 2003.11a
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• pp.1152-1154
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• 2003

The needs of 3-D data have been increasing for various applications like visualization, 3-D modeling, planning and management as well as entertainment. Mobile mapping has become a quick and practical means for acquiring necessary 3-D data for above-mentioned applications. A mobile mapping system mainly consists of two main components, viz. data acquisition devices and positioning devices. The data acquisition devices consist of CCD cameras or/and laser scanners. The positioning devices consist of GPS, INS, Odometer (shaft encoder) and some other referencing devices. The overall accuracy of mobile mapping system depends on the accuracy of positioning devices and their integrated output. Though, GPS is the main input device for the position information, the signal is not available for the computation of position all the times in urban area. The GPS satellites are normally obstructed by high-rise buildings. Thus it is very important to understand the accuracy of such a system in different environments and means to solve such problems. We have developed a mobile mapping system called VLMS (Vehicle-borne Laser Mapping System), which consists of CCD Cameras, Laser scanners, GPS, INS and Odometer. In this paper, we will present and discuss the accuracy of this system with data acquired in different environments (open area, urban area, tunnel, express way etc) by analyzing the data with respect to other existing digital data.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.10
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• pp.956-961
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• 2007

We propose a new distance measurement method and local positioning system for the autonomous mobile robots localization. The distance measurement method is able to measure long-range distances with a high accuracy by using ultrasonic sensors. The time of flight of the ultrasonic waves include various noises is calculated accurately by the proposed period detecting method. The proposed local positioning system is composed of four ultrasonic transmitters and one ultrasonic receiver. The ultrasonic transmitter and receiver are separated but they are synchronized by RF (Radio frequency) signal. The proposed system using ultrasonic waves is represented as USAT(Ultrasonic Satellite System). USAT is able to estimate the position using the least square estimation. The experimental results show that the proposed local positioning system enables to estimate the absolute position precisely.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.40 no.10
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• pp.2062-2064
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• 2015

In this paper, we propose indoor positioning algorithm performed at the image sensor equipped in mobile station, which receives the light signal from LED panels. To evaluate the performance of positioning algorithm, we consider the ambient noise existing indoor environment, and it is found that the proposed algorithm estimates the position of mobile station with high accuracy regardless of existence of ambient noise.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.10 no.7
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• pp.1332-1337
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• 2006

In this paper, a noble second stage hetero-estimator is used for positioning error detection in mobile robot. Previous methods are either expensive in the case of positioning error correction or not able to detect positioning error. To overcome the latter shortage, the positioning error detection is performed using second stage hetero-estimator in motor model of mobile robot without any additional costs. A Kalman filter in the estimator gets the residual of motor current and an adaptive self-tunning filter checks the whiteness of the residual. Some simulation results show the possibility of the proposed method.

• The Journal of the Korea institute of electronic communication sciences
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• v.6 no.5
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• pp.775-781
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• 2011

For the measurement of absolute position of mobile robot in indoor environments, the ultrasonic positioning systems using ultrasound have been researched for several years. Most of these ultrasonic positioning systems to avoid interference between the ultrasound are used for sequential transmitting. However, due to the use of sequential transmitting, the positions of transmitter to receive an ultrasound will change when the mobile robot moves. Therefore the accuracy of positioning is reduced. In this paper, the new position estimation algorithm with weighting factor according to the time of receipt is proposed. By applying the proposed algorithm to existing Ultrasonic Satellite System(USAT), the improved USAT is configured. The positioning performance of the improved USAT with the proposed position estimation algorithm are verified by experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.12
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• pp.1204-1208
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• 2014

As required performance of UAV (Unmanned Aerial Vehicle) becomes more complex and complicated, required positioning accuracy is becoming more and more higher. GPS is a reliable world wide positioning providing system. Therefore, UAV generally acquires position information from GPS. But when GPS is not available such as too weak signal or too less GPS satellites environments, UAV needs alternative positioning system such as network positioning system. RSSI (Received Signal Strength Indicator) based positioning, which is one method of network positioning technologies, determines its position using RSSI measurements containing distance information from AP (Access Point)s. In that method, a selected AP's configuration has strong and tight relationship with its positioning errors. In this paper, for, we additionally account AP's configuration information by adopting DOP (Dilution of Precision) into AP selection procedures and provide more accurate RSSI based positioning results.