Abstract
In this paper, a novel technique for high-accuracy indoor positioning using a GPS-compatible positioning system called IMES (Indoor Messaging System) is proposed, especially aiming to apply it to robot navigation. The radio wave propagation is modeled in order to obtain the distances between IMES transmitters and a receiver. The position of the receiver is calculated based on the principle of triangulation with those distances. In addition, an Extended Kalman filter combined with the travel distance acquired from wheel encoders of a robot is used to smooth the positioning result. The result of a positioning experiment shows that the positioning accuracy more than 1 meter is achievable without giving an initial position and direction to the robot.
