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Indoor location tracking in non-line-of-sight environments using a IEEE 802.15.4a wireless network

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2 Author(s)
Rohrig, C. ; Dept. of Comput. Sci., Dortmund Univ. of Appl. Sci. & Arts, Dortmund, Germany ; Muller, M.

Indoor location tracking of mobile robots or transport vehicles using wireless technology is attractive for many applications. IEEE 802.15.4a wireless networks offer an inexpensive facility for localizing mobile devices by time-based range measurements. The main problems of time-based range measurements in indoor environments are errors by multipath and non-line-of-sight (NLOS) signal propagation. This paper describes indoor tracking using range measurements and an Extended Kalman Filter with NLOS mitigation. The commercially available nanoLOC wireless network is utilized for range measurements. The paper presents experimental results of tracking a forklift truck in an industrial environment.

Published in:
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on

Date of Conference: 10-15 Oct. 2009

Page(s):
552 - 557
E-ISBN :
978-1-4244-3804-4
Print ISBN:
978-1-4244-3803-7
INSPEC Accession Number:
11010043
Conference Location :
St. Louis, MO
Digital Object Identifier :
10.1109/IROS.2009.5354747
Product Type:
Conference Publications

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