RF Network Localization Method for Unmanned Robotics Systems

摘要

The paper presents a preliminary study towards developing a Global Positioning System (GPS) free localization method, which monitors the Received Signal Strength Indication (RSSI) between several stationary nodes (anchor nodes) and a mobile node to predict the position of the mobile node. The main goals of the paper are to find the optimal localization algorithm and identify the optimal number of anchor nodes that would provide the desired localization precision. It will be shown that the proposed technique is affordable and can be successfully used in electronically noisy environments (e.g., indoor). The study is performed with a 434 MHz RF localization system that should provide less interference than the typical 2.4 GHz systems that commonly experience interference from other domestic technologies. The results reveal the feasibility and shortcomings of these systems for designing a more accurate real-time positioning system.