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    Relative Positioning System Using Simultaneous Round Trip Time of Flight Measurements

    TitleRelative Positioning System Using Simultaneous Round Trip Time of Flight Measurements
    Publication TypeConference Paper
    Año de publicación2006
    AutoresMarzziani, CD, Ureña, J, Mazo, M, Hernández, Á, Garcia, JJ, Jimenez, A, del Perez, MC, Ochoa, A, Villadangos, JM
    Idioma de publicaciónEnglish
    Conference NameIEEE Conference on Emerging Technologies and Factory Automation, 2006. ETFA '06.
    Páginas602 - 605
    Conference LocationPrague
    Fecha de publicación09/2006
    Numero ISBN0-7803-9758-4
    Palabras claveacoustic emission, acoustic variables measurement, navigation

    The determination of the relative position among mobile objects or members of a robot team is a useful information when the systems are not restricted to a particular environment and they cannot depend on an external infrastructure to obtain their location information. The solution for this kind of problems cannot be divided and treated separately for each object. Therefore it is necessary to implement mechanisms that allow to simultaneously determine the spatial relations among objects not knowing their absolute location in the environment. After that, a positioning algorithm can be computed whose complexity depends on the number of observations made and the precision required in the system. In this work, the implementation of a relative positioning system is described where only acoustic emissions are made in order to obtain information about the other objects. These data are obtained by using simultaneous round-trip-time-of-flight measurements. Finally, using this information, the object positions are computed with a multidimensional scaling technique, and a closer solution is achieved with least-square algorithms.

    ETFA06-Marziani.pdf508.79 KB