On the usage of Homogeneous Transformation Matrices for Visible Light Position Estimation Systems
سال انتشار: 1397
نوع سند: مقاله کنفرانسی
زبان: انگلیسی
مشاهده: 464
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شناسه ملی سند علمی:
WACOWC01_023
تاریخ نمایه سازی: 11 شهریور 1397
چکیده مقاله:
This paper discusses a visible light positioning system based on a non-imaging sensor, comprised of a regular arrangement of photo-detectors with applications to mobilerobotics. In order to easily accommodate the requirements to deal with both position and displacement, homogeneous transformation matrices are used, as these are often used in robotics, namely for navigation purposes. In this representation, the updated robot position is efficiently computed from its previous position by an ingenious matrix decomposition methodology. This work considered the usage of visible light position methods applied to position estimation of an autonomous agent inside a room.Position estimation is based on angle of arrival and trilateration methods, using least squares approach. The achieved results show that the proposed methodologyperforms comparably to other methods reported in the literature,achieving a maximum error under 1 cm in a room of 3 m by 3 m with 16 light beacons
نویسندگان
Pedro Fonseca
Departamento de Electr´onica, Telecomunicac¸ ˜oes e Inform´atica, Universidade de Aveiro Instituto de Telecomunicac¸ ˜oes, Aveiro ۳۸۱۰–۱۹۳ AVEIRO, Portugal
Andr´e Gradim
Departamento de Electr´onica, Telecomunicac¸ ˜oes e Inform´atica, Universidade de Aveiro Instituto de Telecomunicac¸ ˜oes, Aveiro ۳۸۱۰–۱۹۳ AVEIRO, Portugal
Lu´ıs Nero Alves
Departamento de Electr´onica, Telecomunicac¸ ˜oes e Inform´atica, Universidade de Aveiro Instituto de Telecomunicac¸ ˜oes, Aveiro ۳۸۱۰–۱۹۳ AVEIRO, Portugal