2018 Volume 7 Issue 2 Pages 181-188
Previously, the authors had proposed an indoor positioning system based on multiple frequencies of ultrasonic waves. This system had a systematic positioning error caused by the attenuation of both ultrasonic waves in air and signals in the detection circuit. This study proposes an error correction method based on an attenuation model, along with directivity models of ultrasonic waves. According to our evaluation, the average error in positioning was reduced to 2.52cm, which is 18% smaller than the simple correction obtained in the previous study. The additional calculation time required for the proposed model was 0.7-3.8ms on Arduino Uno. This is an extended version of a work presented at an IEEJ technical meeting in March 2017.