ALO4: Angle Localization and Orientation System with Four Receivers
This paper presents a 2D indoor localization and orientation system based on a TDOA (Time Difference of Arrival) technique. It uses an array of receivers (four low-cost ultrasonic resonant devices in a square distribution) to implement low-computational-effort DOA (Direction of Arrival) algorithms,...
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2014-09-01
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Series: | International Journal of Advanced Robotic Systems |
Online Access: | https://doi.org/10.5772/58831 |
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doaj-2f6ca73fc8e34c7194f309839299268d2020-11-25T03:32:43ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142014-09-011110.5772/5883110.5772_58831ALO4: Angle Localization and Orientation System with Four ReceiversSantiago Elvira0Ángel de Castro1Javier Garrido2 HCTLAB, Escuela Politécnica Superior, Autonomous University of Madrid, Madrid, Spain HCTLAB, Escuela Politécnica Superior, Autonomous University of Madrid, Madrid, Spain HCTLAB, Escuela Politécnica Superior, Autonomous University of Madrid, Madrid, SpainThis paper presents a 2D indoor localization and orientation system based on a TDOA (Time Difference of Arrival) technique. It uses an array of receivers (four low-cost ultrasonic resonant devices in a square distribution) to implement low-computational-effort DOA (Direction of Arrival) algorithms, based on assumed plane-wave reception. The system only demands two transmitters at well-known positions on the ceiling of the room for obtaining the node position and orientation when it is deployed on the floor of the room. This system has been tested using a Xilinx Spartan-3A FPGA that implements a 52 MHz MicroBlaze. The experimental results include a total of 1,440 points, obtaining a mean localization error of 5.17 cm and a mean orientation error of 3.34°. For this system, the localization and orientation processes are executed in less than 50 us.https://doi.org/10.5772/58831 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Santiago Elvira Ángel de Castro Javier Garrido |
spellingShingle |
Santiago Elvira Ángel de Castro Javier Garrido ALO4: Angle Localization and Orientation System with Four Receivers International Journal of Advanced Robotic Systems |
author_facet |
Santiago Elvira Ángel de Castro Javier Garrido |
author_sort |
Santiago Elvira |
title |
ALO4: Angle Localization and Orientation System with Four Receivers |
title_short |
ALO4: Angle Localization and Orientation System with Four Receivers |
title_full |
ALO4: Angle Localization and Orientation System with Four Receivers |
title_fullStr |
ALO4: Angle Localization and Orientation System with Four Receivers |
title_full_unstemmed |
ALO4: Angle Localization and Orientation System with Four Receivers |
title_sort |
alo4: angle localization and orientation system with four receivers |
publisher |
SAGE Publishing |
series |
International Journal of Advanced Robotic Systems |
issn |
1729-8814 |
publishDate |
2014-09-01 |
description |
This paper presents a 2D indoor localization and orientation system based on a TDOA (Time Difference of Arrival) technique. It uses an array of receivers (four low-cost ultrasonic resonant devices in a square distribution) to implement low-computational-effort DOA (Direction of Arrival) algorithms, based on assumed plane-wave reception. The system only demands two transmitters at well-known positions on the ceiling of the room for obtaining the node position and orientation when it is deployed on the floor of the room. This system has been tested using a Xilinx Spartan-3A FPGA that implements a 52 MHz MicroBlaze. The experimental results include a total of 1,440 points, obtaining a mean localization error of 5.17 cm and a mean orientation error of 3.34°. For this system, the localization and orientation processes are executed in less than 50 us. |
url |
https://doi.org/10.5772/58831 |
work_keys_str_mv |
AT santiagoelvira alo4anglelocalizationandorientationsystemwithfourreceivers AT angeldecastro alo4anglelocalizationandorientationsystemwithfourreceivers AT javiergarrido alo4anglelocalizationandorientationsystemwithfourreceivers |
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1724566385321836544 |