title: Hyperbolic Positioning with Antenna Arrays and Multi-Channel Pseudolite for Indoor Localization.
abstract: A hyperbolic positioning method with antenna arrays consisting of proximately-located antennas and a multi-channel pseudolite is proposed in order to overcome the problems of indoor positioning with conventional pseudolites (ground-based GPS transmitters). A two-dimensional positioning experiment using actual devices is conducted. The experimental result shows that the positioning accuracy varies centimeter- to meter-level according to the geometric relation between the pseudolite antennas and the receiver. It also shows that the bias error of the carrier-phase difference observables is more serious than their random error. Based on the size of the bias error of carrier-phase difference that is inverse-calculated from the experimental result, three-dimensional positioning performance is evaluated by computer simulation. In addition, in the three-dimensional positioning scenario, an initial value convergence analysis of the non-linear least squares is conducted. Its result shows that initial values that can converge to a right position exist at least under the proposed antenna setup. The simulated values and evaluation methods introduced in this work can be applied to various antenna setups; therefore, by using them, positioning performance can be predicted in advance of installing an actual system.
authors.affiliation: Hitachi Industrial Equipment Systems Co., Ltd., 3 Kanda-neribei-cho, Chiyoda-ku, Tokyo 101-0022, Japan. fujii-kenjirou@hitachi-ies.co.jp.
authors.forename: Kenjirou
authors.initials: K
authors.lastname: Fujii
authors.affiliation: Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan. yoshi@aoni.waseda.jp.
authors.forename: Yoshihiro
authors.initials: Y
authors.lastname: Sakamoto
authors.affiliation: Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan. wangwei@aoni.waseda.jp.
authors.forename: Wei
authors.initials: W
authors.lastname: Wang
authors.affiliation: Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan. arie@aoni.waseda.jp.
authors.forename: Hiroaki
authors.initials: H
authors.lastname: Arie
authors.affiliation: Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan. schmitz@aoni.waseda.jp.
authors.forename: Alexander
authors.initials: A
authors.lastname: Schmitz
authors.affiliation: Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan. sugano@waseda.jp.
authors.forename: Shigeki
authors.initials: S
authors.lastname: Sugano
keywords: GPS; hyperbolic positioning; indoor positioning; pseudolite