Calibration of beacons for indoor environments based on a digital map and heuristic information
Identifiers
Permanent link (URI): http://hdl.handle.net/10017/60077DOI: 10.3390/s19030670
ISSN: 1424-8220
Publisher
MDPI
Date
2019-02-06Funders
Universidad de Alcalá
Junta de Comunidades de Castilla-La Mancha
Ministerio de Economía y Competitividad
Bibliographic citation
Gualda, D.; Ureña, J.; Alcalá, J.; Santos, C. Calibration of beacons for indoor environments based on a digital map and heuristic information. Sensors 2019, 19, 670.
Keywords
Beacon calibration
Digital map
Genetic algorithm
Harmonic search
Heuristic information
Indoor positioning
Project
info:eu-repo/grantAgreement/UAH//CCGP2017%2FEXP-053
info:eu-repo/grantAgreement/UAH//AE2017-4
info:eu-repo/grantAgreement/JCCM//SBPLY%2F17%2F180501%2F000392
info:eu-repo/grantAgreement/MINECO//TIN2015-71564-C4-1-R/ES/MEJORA Y ROBUSTECIMIENTO DE SISTEMAS DE LOCALIZACION EN INTERIORES PARA APLICACIONES EN ROBOTICA Y ASISTENCIA A PERSONAS/
Document type
info:eu-repo/semantics/article
Version
info:eu-repo/semantics/publishedVersion
Publisher's version
https://doi.org/10.3390/s19030670Rights
Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0)
© 2019 The authors
Access rights
info:eu-repo/semantics/openAccess
Abstract
This paper proposes an algorithm for calibrating the position of beacons which are placed on the ceiling of an indoor environment. In this context, the term calibration is used to estimate the position coordinates of a beacon related to a known reference system in a map. The positions of a set of beacons are used for indoor positioning purposes. The operation of the beacons can be based on different technologies such as radiofrequency (RF), infrared (IR) or ultrasound (US), among others. In this case we are interested in the positions of several beacons that compose an Ultrasonic Local Positioning System (ULPS) placed on different strategic points of the building. The calibration proposal uses several distances from a beacon to the neighbor walls measured by a laser meter. These measured distances, the map of the building in a vector format and other heuristic data (such as the region in which the beacon is located, the approximate orientation of the distance measurements to the walls and the equations in the map coordinate system of the line defining these walls) are the inputs of the proposed algorithm. The output is the best estimation of the position of the beacon. The process is repeated for all the beacons. To find the best estimation of the position of the beacons we have implemented a numerical minimization based on the use of a Genetic Algorithm (GA) and a Harmony Search (HS) methods. The proposal has been validated with simulations and real experiments, obtaining the positions of the beacons and an estimation of the error associated that depends on which walls (and the angle of incidence of the laser) are selected to make the distance measurements.
Files in this item
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Calibration_of_Sensors_2019.pdf | 1.465Mb |
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Files | Size | Format |
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Calibration_of_Sensors_2019.pdf | 1.465Mb |
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