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 |
Files in This Item:
File | Description | Size | Format | |
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187a-130490O.pdf | Published version | 367.72 kB | Adobe PDF | View/Open |
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