Telamon - Indoor Relative Positioning System (IRPS) · Tiger Bar 744 Xtra 744 Little Island Deli...
Transcript of Telamon - Indoor Relative Positioning System (IRPS) · Tiger Bar 744 Xtra 744 Little Island Deli...
Telamon - Indoor Relative Positioning System (IRPS)
1. To perform indoor relative positioning without:
• Internal building map
• Pre-installed infrastructure
• Finger-printing training
2. Utilize sensors of various characteristics, and perform a sensor fusion:
• Self-Referencing Sensor: IMU
• External-Referencing Sensor: Wifi / FM
• Inter-Referencing Sensor: UWB
Indoor Localization without Map / Infrastructure / Training
( A novel inverse pendulum model enables
accurate movement tracking with IMU
at upper torso)
(Combining multiple radio frequencies
can achieve higher accuracy)
(In a room of dimension 25m × 14m with 9 access points, we can differentiate two paths that are
less than 3 meters apart, by just using Wifi signal)
( Combining inter-referencing and external referencing
can resolve the ambiguity without training)
External-Referencing
Self-Referencing Self + External Referencing
Self + Inter + External Referencing
Asst Prof Yuen Chau, Asst Prof Tan U-Xuan, Liu Ran, Richard Do Tri Nhut
Inter + External Referencing
(Particle filter based sensor fusion)
Tested in support for NDP 2016