Evaluating Acoustic Navigation and Guidance System (ANGuS) for Autonomous Vehicle Indoor Navigation

Evaluating Acoustic Navigation and Guidance System (ANGuS) for Autonomous Vehicle Indoor Navigation | Authorea try { document.documentElement.classList.add('js'); } catch (e) { } var _gaq = _gaq || []; _gaq.push(['_setAccount', 'G-8VDV14Y67G']); _gaq.push(['_trackPageview']); (function() { var ga = document.createElement('script'); ga.type = 'text/javascript'; ga.async = true; ga.src = ('https:' == document.location.protocol ? 'https://ssl' : 'http://www') + '.google-analytics.com/ga.js'; var s = document.getElementsByTagName('script')[0]; s.parentNode.insertBefore(ga, s); })(); Skip to main content Preprints Collections Wiley Open Research IET Open Research Ecological Society of Japan All Collections About About Authorea FAQs Contact Us Quick Search anywhere Search for preprint articles, keywords, etc. Search Search ADVANCED SEARCH SCROLL This is a preprint and has not been peer reviewed. Data may be preliminary. 7 May 2025 V1 Latest version Share on Evaluating Acoustic Navigation and Guidance System (ANGuS) for Autonomous Vehicle Indoor Navigation Authors : ROHAN KAPOOR 0000-0002-0287-6781 [email protected] and Roberto Sabatini Authors Info & Affiliations https://doi.org/10.22541/au.174662942.21733721/v1 191 views 162 downloads Contents Abstract Supplementary Material Information & Authors Metrics & Citations View Options References Figures Tables Media Share Abstract Conventional satellite-based navigation systems do not provide required navigation performance and accuracy in indoor environments. This entails the development of indoor navigation systems that can either work independently or in conjunction with the satellite-based as well as on-board navigation systems. This paper discusses some of the existing indoor navigation systems before presenting a novel Acoustic Navigation and Guidance System (ANGuS). Echolocation exhibited by mammals like bats and dolphins as well as some visually impaired humans is discussed. Significant research efforts have focused on the dilution of precision for outdoor radio navigation systems, both terrestrial and satellite-based. However, indoor navigation systems pose considerably different challenges, which would potentially require a different approach from the techniques developed for outdoor navigation systems. One such approach would be how the issue of poor geometry is tackled for multistatic indoor navigation systems. Due to higher elevation angles, even a slight change in beacon arrangement indoors can significantly affect the geometry and consequently the position dilution of precision as well as the positioning error. An alternate positioning error estimation technique is proposed for high PDOP multistatic navigation systems, thus improving error budgeting and system design of indoor navigation systems. Experimental results of ANGuS, including static positioning tests, flight tests on an unmanned aerial platform, and ground tests on a tracked vehicle are discussed. A simulation case study looking at integration of on-board inertial measurement unit (IMU) with ANGuS is also discussed. Supplementary Material File (evaluating acoustic navigation and guidance system for autonomous vehicle indoor navigation.docx) Download 17.50 MB Information & Authors Information Version history V1 Version 1 07 May 2025 Copyright This work is licensed under a Non Exclusive No Reuse License. Keywords 3d robotic mapping autonomous navigation gps denied modeling error estimation search and rescue robots Authors Affiliations ROHAN KAPOOR 0000-0002-0287-6781 [email protected] RMIT University Bundoora Library View all articles by this author Roberto Sabatini Khalifa University View all articles by this author Metrics & Citations Metrics Article Usage 191 views 162 downloads .FvxKWukQNSOunydq8rnd { width: 100px; } Citations Download citation ROHAN KAPOOR, Roberto Sabatini. Evaluating Acoustic Navigation and Guidance System (ANGuS) for Autonomous Vehicle Indoor Navigation. Authorea . 07 May 2025. DOI: https://doi.org/10.22541/au.174662942.21733721/v1 If you have the appropriate software installed, you can download article citation data to the citation manager of your choice. Simply select your manager software from the list below and click Download. For more information or tips please see 'Downloading to a citation manager' in the Help menu . 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