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Proceedings Paper

Position accuracy and sensitivity due to distance error and beacon position in the localization system using ultrasonic wave
Author(s): Ui-Kun Hwang; Kyoo-Sic Jeong; Dong-Hun Shin
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Paper Abstract

This paper presents the position accuracy and sensitivity for the robot localization system using the ultrasonic wave. This localization system consists of many beacons and a receiver. Many beacons are located in the absolute coordinate defined by user and a receiver is loaded in the robot. The robot position can be computed from the known beacon positions and more than three distance information between the receiver and beacons measured by ultrasonic wave. But the distance measured by ultrasonic wave includes errors that are limited by ultrasonic sensor efficiency. We found that ±2cm tolerance for measured distance in Threshold method is independent with the distance range. Since more than 3 beacons are used, Least-Square-Method are used to compute the receiver position. This paper derives the method of position accuracy and sensitivity due to distance error by using Taylor Expansion and SVD(Singular Value Decomposition) method.

Paper Details

Date Published: 9 January 2008
PDF: 5 pages
Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 67942G (9 January 2008); doi: 10.1117/12.784495
Show Author Affiliations
Ui-Kun Hwang, Univ. of Seoul (South Korea)
Kyoo-Sic Jeong, Univ. of Seoul (South Korea)
Dong-Hun Shin, Univ. of Seoul (South Korea)

Published in SPIE Proceedings Vol. 6794:
ICMIT 2007: Mechatronics, MEMS, and Smart Materials
Minoru Sasaki; Gisang Choi Sang; Zushu Li; Ryojun Ikeura; Hyungki Kim; Fangzheng Xue, Editor(s)

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