Position accuracy and sensitivity due to distance error and beacon position in the localization system using ultrasonic wave

Ui-Kun Hwang; Kyoo-Sic Jeong; Dong-Hun Shin

doi:10.1117/12.784495

9 January 2008 Position accuracy and sensitivity due to distance error and beacon position in the localization system using ultrasonic wave

Ui-Kun Hwang, Kyoo-Sic Jeong, Dong-Hun Shin

Author Affiliations +

Proceedings Volume 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials; 67942G (2008) https://doi.org/10.1117/12.784495
Event: ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 2007, Gifu, Japan

Abstract

This paper presents the position accuracy and sensitivity for the robot localization system using the ultrasonic wave. This localization system consists of many beacons and a receiver. Many beacons are located in the absolute coordinate defined by user and a receiver is loaded in the robot. The robot position can be computed from the known beacon positions and more than three distance information between the receiver and beacons measured by ultrasonic wave. But the distance measured by ultrasonic wave includes errors that are limited by ultrasonic sensor efficiency. We found that ±2cm tolerance for measured distance in Threshold method is independent with the distance range. Since more than 3 beacons are used, Least-Square-Method are used to compute the receiver position. This paper derives the method of position accuracy and sensitivity due to distance error by using Taylor Expansion and SVD(Singular Value Decomposition) method.

Citation Download Citation

Ui-Kun Hwang, Kyoo-Sic Jeong, and Dong-Hun Shin "Position accuracy and sensitivity due to distance error and beacon position in the localization system using ultrasonic wave", Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 67942G (9 January 2008); https://doi.org/10.1117/12.784495

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available