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

Authors:
Christof Röhrig;Marcel Müller
Affiliations:
Dortmund University of Applied Sciences and Arts, Department of Computer Science, Dortmund, Germany;Dortmund University of Applied Sciences and Arts, Department of Computer Science, Dortmund, Germany
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

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.