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Indoor localization and beacon calibration using ultrasonic and radio frequency

机译:使用超声波和射频进行室内定位和信标校准

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Using the ultrasonic and the radio frequency, a method for the robot localization and calibration was presented. The distance between the receiver and a beacon can be computed by using the difference between times of flight. The presented method uses the gradient of the maximum amplitude of the ultrasonic in order to measure the time of flight precisely. The measured three distances between the receiver and the beacon were used to compute the robot position by the direct inverse method and the iterated least square approximation method. This paper defines the calibration as the problem to find the location of 3 beacons and 3 robots, and presents 3 methods for it and found the 2B2R method as the best among them.
机译:利用超声波和射频,提出了一种机器人定位与标定方法。接收机和信标之间的距离可以通过使用飞行时间之间的差来计算。提出的方法使用超声波最大振幅的梯度来精确测量飞行时间。通过直接逆方法和迭代最小二乘逼近方法,将测得的接收器与信标之间的三个距离用于计算机器人位置。本文将校准定义为寻找3个信标和3个机器人的位置的问题,并提出了3种方法,其中2B2R方法是最好的方法。

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