The Cricket location-support system
MobiCom '00 Proceedings of the 6th annual international conference on Mobile computing and networking
The cricket compass for context-aware mobile applications
Proceedings of the 7th annual international conference on Mobile computing and networking
RF Free Ultrasonic Positioning
ISWC '03 Proceedings of the 7th IEEE International Symposium on Wearable Computers
A 3-D Indoor Positioning Method using a Single Compact Base Station
PERCOM '04 Proceedings of the Second IEEE International Conference on Pervasive Computing and Communications (PerCom'04)
Accessible Ultrasonic Positioning
IEEE Pervasive Computing
Low-cost sound-based localization using programmable mixed-signal systems-on-chip
Microelectronics Journal
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This paper presents a low cost system based on ultrasound transducers to obtain the localization and orientation information of a mobile node, such as a robot, in a 2D indoor space. The system applies a new differential time of arrival (DTOA) technique with reduced computational cost, which is called ALO (angle localization and orientation). Instead of directly calculating its position, the system calculates the direction of arrival of the received ultrasonic signal and, through it, its position and orientation. A prototype of a robot has been built in order to show the validity of the method through experimental results.