Wireless 3D Localization Concept for Industrial Automation Based on a Bearings Only Extended Kalman Filter

Beitrag bei einer Tagung
(Konferenzbeitrag)


Details zur Publikation

Autor(en): Lipka M, Sippel E, Hehn M, Adametz J, Vossiek M, Dobrev Y, Gulden P
Jahr der Veröffentlichung: 2018
Sprache: Englisch


Abstract

Modern factories and the fourth industrial revolution demand for
solutions to monitor the working area and to support the assembly
process. One of the key tasks in this context is the localization and
tracking of autonomous robots and vehicles as well as hand driven tools.
Promising candidates for flexible, wireless solutions are microwave
localization systems, like the 24 GHz frequency modulated continuous
wave radar used in this paper. In order to reduce the synchronization
effort for the employed secondary radar system, only angle-of-arrival
measurements are evaluated for the estimation of 3D position and
velocity. Therefore, a novel Extended Kalman Filter is presented in this
paper to determine the transponder location solely from bearing
measurements and to reduce the influence of measurement outliers. For
verification, experimental results from a close-range indoor
localization scenario are provided and evaluated with the high-precision
reference by a robotic arm.


FAU-Autoren / FAU-Herausgeber

Adametz, Julian
Lehrstuhl für Hochfrequenztechnik
Dobrev, Yassen
Lehrstuhl für Hochfrequenztechnik
Hehn, Markus
Lehrstuhl für Hochfrequenztechnik
Lipka, Melanie
Lehrstuhl für Hochfrequenztechnik
Sippel, Erik
Lehrstuhl für Hochfrequenztechnik
Vossiek, Martin Prof. Dr.-Ing.
Lehrstuhl für Hochfrequenztechnik


Autor(en) der externen Einrichtung(en)
Symeo GmbH


Zitierweisen

APA:
Lipka, M., Sippel, E., Hehn, M., Adametz, J., Vossiek, M., Dobrev, Y., & Gulden, P. (2018). Wireless 3D Localization Concept for Industrial Automation Based on a Bearings Only Extended Kalman Filter. In Proceedings of the 2018 Asia-Pacific Microwave Conference. Kyoto, JP.

MLA:
Lipka, Melanie, et al. "Wireless 3D Localization Concept for Industrial Automation Based on a Bearings Only Extended Kalman Filter." Proceedings of the 2018 Asia-Pacific Microwave Conference, Kyoto 2018.

BibTeX: 

Zuletzt aktualisiert 2019-16-04 um 02:23