Composition and Verification Experiment for Indoor Positioning System using Ultrasonic Sensors

あらまし 超音波センサを用いた測位システムは,測位エリアの制約はあるものの高精度な測位が可能であり,一般に屋外に比べて 高い測位精度が要求される屋内での利用に有利である.本論文では逆 GPS 法とよばれる手法による超音波測位システムを実用的なも のとすることを目的に,測位エリアの広域化と複数の測位対象の収容を可能とするための方法と構成について検討し,検証のための試 作と評価を行った結果を述べる.静止物体および移動物体を用いた測位精度評価実験の結果,測位誤差が最大でも 100mm以下に抑 えられており,要求精度を十分に満足していることを示す.さらに応用例として移動ロボットを用いて歩行者ナビゲーションを想定した模 擬実験を行い,システムの有用性を確認した結果を示す. Abstract Positioning systems that use ultrasonic sensors can measure position with a high degree of accuracy. For this reason, they are an attractive option for use in indoors, where the level of accuracy required is higher than that needed outdoors. This study aims to make possible a practical ultrasonic positioning system based on what is called an inverse GPS method. To be practical, positioning systems should be able to cover a wide area and identify the positions of multiple objects. This paper discusses the positioning methodology and system structure to achieve these objectives. It presents the results of verification tests with static and moving objects conducted using an experimental model. It was confirmed that the positioning error is less than 100 mm, and that the proposed system satisfies the required accuracy. In addition, as a possible application of the method, an experiment in ‘pedestrian navigation’ was conducted using a moving robot, and the effectiveness of the proposed system was confirmed. キーワード 屋内測位, 超音波, 逆 GPS, エリア拡大, 複数識別