NFC SIGNALS BASED ON AN EFFECTIVE MOBILE ROBOT LOCALIZATION
Journal Title: Elysium Journal of Engineering Research and Management - Year 2015, Vol 2, Issue 3
Abstract
A Complete Localization system for an indoor self - ruled vehicle equipped with Near Field Communication (NFC) reader to Interrogate tags located on the environment. Phase Measurement for real time positioning of a single UHF tab, exploiting the fully coherent detection of NFC readers, which gets back to normal baseband phase of the coherently demodulated tag signal. The NFC reader can calculated the phase of the signals coming from responding NFC tags. Non-univocal dependence on the distance robot tag, but in the considered frequency, it is very sensitive to a change in the position of the robot. As the phase angle is very sensitive to the different in some way of the distance between a tag and the moving vehicle, about 1 degree/mm, the theoretical localization accuracy is in the order of a millimeter, whereas the accuracy achieved in the experimental activity is in the order of a centimeter. A significant improvement on the system proposed in is obtained by exploiting the phase of the tag signals. For such reason, a multi hypothesis Kalman filtering using NFC signalling approach provides a really satisfactory performance even in the case that a very small density of tags is used: A multi hypothesis EKF has been proposed to fuse the NFC and the Corresponding information associated with the encoders on the wheels of the vehicle. The motion should avoid singular paths to disambiguate the phase measurements. The shape of the path is, in general, not critical if more than two non-collinear tags are used.
Authors and Affiliations
Mohanalakshmi K. , Arun B
Keywords
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