Accuracy and Precision of Agents Orientation in an Indoor Positioning System Using Multiple Infrastructure Lighting Spotlights and a PSD Sensor

Sensors

Álvaro De-La-Llana-Calvo¹  Andreea Iamnitchi²  José Luis Lázaro-Galilea²  Alfredo Gardel-Vicente²  Aitor Alcázar-Fernández²  Ignacio Bravo-Muñoz² 

[1] Department of Applied Mathematics, Materials Science and Engineering and Electronic Technology, Rey Juan Carlos University, 28933 Móstoles, Madrid, Spain;Department of Electronics, University of Alcalá, 28801 Alcalá de Henares, Madrid, Spain;

关键词: indoor positioning system (IPS);    position-sensitive device (PSD);    visible light positioning (VLP);    angle of arrival (AoA);   

DOI  :  10.3390/s22082882

来源: DOAJ

【 摘 要 】

In indoor localization there are applications in which the orientation of the agent to be located is as important as knowing the position. In this paper we present the results of the orientation estimation from a local positioning system based on position-sensitive device (PSD) sensors and the visible light emitted from the illumination of the room in which it is located. The orientation estimation will require that the PSD sensor receives signal from either 2 or 4 light sources simultaneously. As will be shown in the article, the error determining the rotation angle of the agent with the on-board sensor is less than 0.2 degrees for two emitters. On the other hand, by using 4 light sources the three Euler rotation angles are determined, with mean errors in the measurements smaller than 0.35° for the x- and y-axis and 0.16° for the z-axis. The accuracy of the measurement has been evaluated experimentally in a 2.5 m-high ceiling room over an area of 2.2 m${}^2$ using geodetic measurement tools to establish the reference ground truth values.

【 授权许可】

Unknown