Indoor Localization based on multi-rate IMU/RSSI Sensor Fusion

Warapon Kumkeaw*, Veerachai Malyavej** and Manop Aorpimai**


* Electrical Engineering Graduate Program, ** Control, Instrumentation and Mechatronics Engineering

Faculty of Engineering, Mahanakorn University of Technology,

140 Cheum-sampan Rd., Nong Chok, Bangkok, THAILAND

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Manuscript received July 4, 2013

Revised August 19, 2013


Localization is the crucial problem for mobile robot navigation. For indoor mobile robot, since a global positioning system (GPS) is incapable, another promising technique to detect the position is the received signal strength indicator (RSSI) from wireless communication. To improve the precision and robustness of mobile unit localization, an inertial measurement unit (IMU) is normally used. In this report, we propose the algorithm for mobile robot localization based on sensor fusion between RSSI from wireless local area network (WLAN) and an IMU. The proposed fusion scheme is based on the extended Kalman filter (EKF).  The experiment is conducted by using mobile unit equipped with low-cost IMU and a wireless communication module together with access points to evaluate the performance of our algorithm, and the result is promising.

 Keyword:Robot localization, Kalman filter, RSSI, IMU

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