EKF based Mobile Robot Indoor Localization using Pattern Matching
패턴 매칭을 이용한 EKF 기반 이동 로봇 실내 위치 추정

Seok-Young Kim, Ji-Hong Lee
2012 The Journal of Korea Robotics Society  
This paper proposes how to improve the performance of CSS-based indoor localization system. CSS based localization utilizes signal flight time between anchors and tag to estimate distance. From the distances, the 3-dimensional position is calculated through trilateration. However the error in distance caused from multi-path effect transfers to the position error especially in indoor environment. This paper handles a problem of reducing error in raw distance information. And, we propose the new
more » ... we propose the new localization method by pattern matching instead of the conventional localization method based on trilateration that is affected heavily on multi-path error. The pattern matching method estimates the position by using the fact that the measured data of near positions possesses a high similarity. In order to gain better performance of localization, we use EKF(Extended Kalman Filter) to fuse the result of CSS based localization and robot model.
doi:10.7746/jkros.2012.7.1.045 fatcat:3uagde3xjjgz5moskfgh3tktlu