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首页> 外文会议>Seventh International Symposium on Mechatronics and its Applications (ISMA' 10) >Multiplexing receivers to improve positioning success rate for pseudolite indoor localization
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Multiplexing receivers to improve positioning success rate for pseudolite indoor localization

机译：复用接收器以提高伪卫星室内定位的定位成功率

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摘要

Carrier phase-based positioning such as RTK-GPS, which has centimeter-level accuracy, is ideal for mobile robot navigation. However, this technology comes with a serious problem called cycle slip, which happens when the receiver fails to track the carrier phase of signals incoming from transmitters. Cycle slip is usually caused by multipath, noise, and many other factors, and when it happens, the number of equations that can be used for position calculation decreases. As this problem arises more frequently in an indoor space, positioning success rate (PSR) tends to be lower indoors. In this paper, we introduced a method that multiplexes receivers for indoor positioning with pseudolites (ground-based GPS transmitters). With this method, positioning becomes more insusceptible to cycle slips, comparing to the use of a single receiver, because of its redundant equations for position calculation. We conducted an experiment to investigate how the number of receivers and transmitters affect PSR and positioning accuracy. The result showed that while PSR gets higher as the number of receivers increases, it does not necessarily rise with the increase of transmitter numbers. It also showed that the increase of transmitter numbers deteriorates the positioning accuracy.
机译：RTK-GPS等基于载波相位的定位具有厘米级的精度，是移动机器人导航的理想选择。但是，该技术带有一个严重的问题，称为周跳，当接收器无法跟踪从发送器传入的信号的载波相位时，就会发生这种情况。周期滑移通常是由多径，噪声和许多其他因素引起的，当发生这种情况时，可用于位置计算的方程式数量会减少。由于该问题在室内空间中更加频繁出现，因此室内定位成功率（PSR）趋于降低。在本文中，我们介绍了一种方法，该方法将用于室内定位的接收器与伪卫星（地面GPS发射器）复用。与使用单个接收器相比，由于使用了这种冗余方法来进行位置计算，因此与使用单个接收器相比，使用此方法定位对周跳更不敏感。我们进行了一项实验，以研究接收器和发射器的数量如何影响PSR和定位精度。结果表明，虽然PSR随着接收器数量的增加而增加，但并不一定随发送器数量的增加而增加。这也表明，发射机数量的增加会降低定位精度。

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