PDOP Optimization for Indoor Navigation using Acoustic Sensors
Rohan Kapoor, Subramanian Ramasamy and Roberto Sabatini, RMIT University, School of Engineering, Aerospace and Aviation Discipline, Australia
This paper presents a novel indoor navigation technique using acoustic sensors. Acoustic transmitters are arranged at known fixed locations. The receiver position is calculated based on Time Division Multiple Access (TDMA) ranging data from a minimum of four transmitters. The range is calculated based on Time of Flight (ToF) of acoustic waves from the transmitter to the receiver. The transmitters are arranged optimally to minimise Position Dilution of Precision (PDOP). Optimised PDOP leads to better coverage in the indoor environment, where conventional satellite-based navigation systems cannot deliver required Positioning, Navigation and Timing (PNT). Initial experiments are conducted using distributed ultrasonic sensor network. Simulations are carried out to optimise the arrangement of transmitters for future experiments.