دورية أكاديمية
Spread Spectrum Sound with TDMA and INS Hybrid Navigation System for Indoor Environment
| العنوان: | Spread Spectrum Sound with TDMA and INS Hybrid Navigation System for Indoor Environment |
|---|---|
| المؤلفون: | Tientadakul, Romprakhun, Nakanishi, Hiroaki, Shiigi, Tomoo, Huang, Zichen, Tsay, Lok Wai Jacky, Kondo, Naoshi |
| المساهمون: | 中西, 弘明, 近藤, 直, 50283635 |
| بيانات النشر: | Fuji Technology Press Ltd. |
| سنة النشر: | 2021 |
| المجموعة: | Kyoto University Research Information Repository (KURENAI) / 京都大学学術情報リポジトリ |
| مصطلحات موضوعية: | indoor navigation, inertial navigation, time of arrival, spread spectrum sound, time division multiple access |
| الوصف: | Indoor navigation plays an essential role in agricultural robots that operate in greenhouses. One of the most effective methods for indoor navigation is the spread spectrum sound (SS-sound) system. In this system, the time of arrival (ToA) of the spread spectrum modulated sound is used for localization. However, there is a near-far problem. Transmitting the SS-sound from multiple anchors using time division multiple access (TDMA) is adequate to solve the near-far problem. However, localization is impossible because the ToA from multiple anchors cannot be simultaneously acquired. To solve this problem, a method for combining the SS-sound system with TDMA and an inertial navigation system is proposed in this study. The effectiveness of the proposed method was demonstrated through numerical simulations of a ground robot and experimentally using a crawler robot. |
| نوع الوثيقة: | article in journal/newspaper |
| اللغة: | English |
| تدمد: | 0915-3942 1883-8049 |
| العلاقة: | http://hdl.handle.net/2433/279271Test; Journal of Robotics and Mechatronics; 33; 1315; 1325 |
| الإتاحة: | http://hdl.handle.net/2433/279271Test |
| حقوق: | © Fuji Technology Press Ltd. ; This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License. ; https://creativecommons.org/licenses/by-nd/4.0Test/ |
| رقم الانضمام: | edsbas.72E2CE10 |
| قاعدة البيانات: | BASE |
| تدمد: | 09153942 18838049 |
|---|