Environment-based measurement planning for autonomous RTLS configuration

We present a novel approach for selecting measurement points online to determine the pose (position and orientation) of an Real-Time Location System's (RTLS) receiving element. In combination with the RANdom Sample And Consensus (RANSAC) algorithm, we generate a selection of measurement points excluding bad measurements to get the right estimation of the pose. The proposed algorithm considers obstacles and boundaries, which are previously unknown. On the basis of an Angle of Arrival (AoA) system, we demonstrate the applicability and accuracy gain of our algorithm in simulation and real experiment.