This paper presents a real-time positioning system for indoor use, which utilizes ultrasonic waves. Many existing systems were prevented from real-time applications by long detection time and calculation time. The proposed system utilizes multiple frequencies of ultrasonic waves, which lead to the reduction of positioning interval and system complexity. We developed our prototype system with Arduino Uno, and achieved 30 ms of the positioning interval.
2015 The Japan Society of Applied Electromagnetics and Mechanics