Measurement on precise indoor positioning system in the real environment

At the University of Pardubice there is currently developed a precise indoor positioning system intended for fire fighters and robotic platforms. In this paper the measurement on such a system on the test HW signal chain is presented. Signal developed in the late paper [2] had been generated and sent to two receiver stations. Cables and air was used for the signal transmission. Signal from the both receiver's stations was processed and the Difference of distances (DOD) was estimated. There were two ways of obtaining the DOD - a cross correlation method with the known signal pattern (Corr) and a spectral analysis method (SAM) [2]. The signal processing was shown to be highly robust leading to the system sub-meter accuracy. When measuring with cables, an average DOD error of 24.5 cm was demonstrated using the Corr method. For the measurement through the air the maximum average DOD error of 34 cm was reached by the SAM method.