Position tracking using sensor fusion of a wireless network and a laser range finder

Automation of the internal material flow is used by many companies to reduce costs. Automation can be realized by using Self Guided Vehicles (SGV). SGVs are transporting goods between manufacturing-plants or inside a warehouse. Wireless Sensor Networks (WSN) provide a lot of potential for logistics applications. They can be used in logistics to realize a decentralization stock database or to control the values of a cold chain. Furthermore, distance measurements from a mobile node to nodes with fixed and known positions can be used to localize the mobile node. The nanoLOC WSN measures the distance between two nodes using the signal propagation time and provides a secure communication method. This paper describes a sensor fusion of the nanoLOC WSN with a laser range finder. The laser range finder is used to detect landmarks and to provide accurate positioning for docking on a charging station. The distances of the WSN and the distances to the landmarks are combined in a Monte Carlo Particlefilter (MCP). The structure of the MCP and experimental results are presented. The results show that this sensor fusion provides an accurate positioning for SGVs.