Reference for Indoor Location Systems Using Gyroscope and Quadrature Incremental Encoder

O. Pekkalin, H. Leppäkoski, L. Iozan, J. Hautamäki, J. Collin, J. Takala

Abstract:	In this paper, we describe a positioning cart which is designed to provide reference coordinates for various indoor positioning experiments. The heading and travelled distance of the cart are measured using a micro electro mechanical systems based gyro and two wheel encoders, respectively. From the measurements, the position of the cart is obtained using dead reckoning principle. The position was computed by post processing the measurements from gyro and encoders, which were logged into files by a PC. We present error analysis of the sensors in use, on-line calibration procedures needed to obtain accurate position estimates, and finally positioning results from a test drive. After calibration of the sensors, the positioning error of the cart in a test drive of 30 minutes was less than 30 cm.
Published in:	Proceedings of the 23rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2010) September 21 - 24, 2010 Oregon Convention Center, Portland, Oregon Portland, OR
Pages:	1192 - 1197
Cite this article:	Pekkalin, O., Leppäkoski, H., Iozan, L., Hautamäki, J., Collin, J., Takala, J., "Reference for Indoor Location Systems Using Gyroscope and Quadrature Incremental Encoder," Proceedings of the 23rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2010), Portland, OR, September 2010, pp. 1192-1197.
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