Building Spatial Carrier Phase Maps with Mobile Robot

Abstract

Localization using radio waves is an essential technique for estimating communicating device locations. We are working on position estimation using the carrier phase as a fingerprint instead of radio wave strength. Carrier waves can be measured with higher accuracy than radio wave strength, so position estimation can be made behaviourally by using carrier waves. However, it has been difficult to measure the carrier phase. This paper proposes a system for constructing carrier phase maps using a communication device equipped with wireless bi-directional synchronization technology and a mobile robot. Using the proposed method, we have confirmed that it is possible to construct a carrier phase map for an indoor area of 2x3 m. The carrier phase map is expected to be applied to high-precision position estimation and action planning considering radio wave quality.