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Please use this identifier to cite or link to this item: http://hdl.handle.net/11375/31376
Title: High-precision indoor localization using the extended Kalman filter approach
Authors: AlShabi M
Gadsden SA
Obaideen K
Bonny T
Department: Mechanical Engineering
Keywords: 4007 Control Engineering, Mechatronics and Robotics;40 Engineering
Publication Date: 5-Jun-2024
Publisher: SPIE, the international society for optics and photonics
Abstract: Indoor positioning and navigation have emerged as critical areas of research due to the limitations of GPS in enclosed environments. This study presents an innovative approach to high-precision indoor localization by employing the Extended Kalman Filter (EKF). Unlike traditional methods that often suffer from noise and multi-path effects, the EKF methodology accounts for nonlinearities and offers a recursive solution to estimate the state of dynamic systems. We deployed a sensor on a mobile robot that needs to move in an indoor environment while there is a moving obstacle that is moving around. Our findings demonstrate a significant accuracy in locating the obstacle while maneuvering inside the environment.
URI: http://hdl.handle.net/11375/31376
metadata.dc.identifier.doi: https://doi.org/10.1117/12.3015941
ISBN: 978-1-5106-7416-5
ISSN: 0277-786X
1996-756X
Appears in Collections:Mechanical Engineering Publications

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