Spread Spectrum Sound with TDMA and INS Hybrid Navigation System for Indoor Environment
Romprakhun Tientadakul*, Hiroaki Nakanishi*, Tomoo Shiigi**, Zichen Huang***, Lok Wai Jacky Tsay***, and Naoshi Kondo***
*Graduate School of Engineering, Kyoto University
Kyoto daigaku-katsura, Nishikyo-ku, Kyoto 615-8540, Japan
**Department of Ocean Mechanical Engineering, National Fisheries University
2-7-1 Nagata-Honmachi, Shimonoseki, Yamaguchi 759-6595, Japan
***Graduate School of Agriculture, Kyoto University
Kitashirakawa-Oiwakecho, Sakyo-ku, Kyoto 606-8502, Japan
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.
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