IJAT Vol.11 No.3 pp. 459-471
doi: 10.20965/ijat.2017.p0459

Technical Paper:

A Novel Automated Construction Method of Signal Fingerprint Database for Mobile Robot Wireless Positioning System

Abdul Halim Ismail*,***,†, Yuki Mizushiri*, Ryosuke Tasaki*, Hideo Kitagawa**, Takanori Miyoshi*, and Kazuhiko Terashima*

*System and Control Laboratory, Department of Mechanical Engineering, Toyohashi University of Technology
1-1 Hibarigaoka Tenpaku-cho Toyohashi, Aichi 441-8580, Japan

Corresponding author

**Department of Electronic Control Engineering, National Institute of Technology, Gifu College, Gifu, Japan

***School of Mechatronic Engineering, Universiti Malaysia Perlis (UniMAP), Arau Perlis, Malaysia

September 1, 2016
December 6, 2016
Online released:
April 28, 2017
May 5, 2017
wireless positioning system, fingerprinting database, interpolation, signal propagation, modified Shepard’s method

The indoor wireless positioning system for a mobile robot employing fingerprinting technique is made in two phase, offline, i.e., collecting reference data for database, and online, i.e., matching the unknown data to those in the database. It is commonly known that the positioning accuracy is increased with the larger number of the reference locations. This has made the offline phase a tedious works, where laborious efforts are needed to construct the database. Thus, automatic database construction is desired in order to minimize the human efforts. This paper described the Signal Propagated Modified Shepard’s Method (SP-MSM) to construct the database by means of interpolating the missing wireless data using for mobile robot application. By introducing the selection probability, reference locations are identified and database is constructed. We found that over all 64 test locations, the proposed SP-MSM method outperform other interpolation method at 52% locations. In addition, the usage of low pass filter has greatly suppressed the fluctuation problem caused by unpredicted behavior of the wireless signal.

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Last updated on Jan. 19, 2018