Improving the Measurement Accuracy of the Static IR Triangulation System Through Apparent Beacon Position Estimation

The ever more dynamic development of autonomous systems in many areas of industry cause the precise indoor navigation to be an important issue. Unfortunately, the influence of walls and other obstacles that interfere with the measurement signals make the indoor navigation systems less accurate - such disturbances introduce so-called signal multipathing. Multipathing is often reduced by creating error maps, which is a labor-intensive task. Another problem in navigation is the precise determination of the position of the navigation reference points called beacons. In this paper, we present an ABPE method (Apparent Beacon Position Estimation) to improve the accuracy of the indoor triangulation positioning system by estimating the apparent beacons positions that does not require a-priori knowledge of beacon positions. The proposed method has been verified experimentally and additionally it has been compared with the methods based on mapping using a second order polynomial.