Open AccessSpread Spectrum Sound with TDMA and INS Hybrid Navigation System for Indoor Environment
Author(s) -
Romprakhun Tientadakul,
Hiroaki Nakanishi,
Tomoo Shiigi,
Zonghao Huang,
Lok Wai Jacky Tsay,
Naoshi Kondo,
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Publication year - 2021
Publication title -
journal of robotics and mechatronics
Language(s) - English
Resource type - Journals
eISSN - 1883-8049
pISSN - 0915-3942
DOI - 10.20965/jrm.2021.p1315
Subject(s) - time division multiple access , computer science , robot , dead reckoning , real time computing , inertial navigation system , sound (geography) , global positioning system , simulation , inertial frame of reference , acoustics , artificial intelligence , telecommunications , physics , quantum mechanics
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.