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An Improved Localization Method Using Light Detection and Ranging for Indoor Positionings †

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Pubblicato in:Electronics vol. 14, no. 24 (2025), p. 4904-4924
Autore principale: Huang Yung-Fa
Altri autori: Ching-Mu, Chen, Jun-Yuan, Liao, Tung-Jung, Chan
Pubblicazione:
MDPI AG
Soggetti:
Localization method
Cameras
Accuracy
Location based services
Communication
Lasers
Real time
Sensors
Static tests
Trilateration
Error reduction
Algorithms
Lidar
Localization
Light
Technology
Robotics
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Abstract:This study proposes a low-cost indoor positioning system based on a single Light Detection and Ranging (LiDAR) sensor and several fixed reflective reference points. Distances are obtained by trigonometric measurement, and positions are computed by trilateration. In static tests the average error was 7.4 mm. When the target moves at walking speed, small survey errors of the reference points cause the average error to increase to 21.8 mm. Finally, the proposed Reference Point Update Method (RPUM) that continuously corrects reference point coordinates using a moving average of recent residuals reduces the dynamic error from 208.71 mm to 20.34 mm, which is about 90% improvement. The method used in this paper requires no additional hardware and runs in real time.
ISSN:2079-9292
DOI:10.3390/electronics14244904
Fonte:Advanced Technologies & Aerospace Database