Particle Filters for Position Sensing with Asynchronous Ultrasonic Beacons

HL Muller, MR McCarthy, CN Randell

Research output: Contribution to journalArticle (Academic Journal)peer-review

15 Citations (Scopus)


In this paper we present a user-centric position sensing system that is based on asynchronous, independent ultrasonic beacons. These stationary transmitter units are small, cheap to manufacture, and have power requirements low enough to run each from a small solar cell and a nearby light source. Each beacon is programmed to emit a short, 40 kHz ultrasonic signal with a unique transmission period. The mobile receiver unit first associates a received signal with a beacon based on the observed periodicity, then measures the Doppler shift in the periodicity that results from movements of the receiver. Using Doppler shifts from a number of different beacons, the receiver is able to estimate both its position and velocity by employing a particle filter. In this paper, we describe our positioning algorithm, the hardware, and proof-of-concept results.
Translated title of the contributionParticle Filters for Position Sensing with Asynchronous Ultrasonic Beacons
Original languageEnglish
Pages (from-to)1 - 13
Number of pages13
JournalLecture Notes in Computer Science (3987)
Publication statusPublished - May 2006

Bibliographical note

ISBN: 3540341505
Publisher: Springer
Name and Venue of Conference: Location- and Context-Awareness, 2nd International Workshop, LoCA 2006, Dublin, 10-11 May


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