Title :
WiFi localization on the International Space Station
Author :
Jongwoon Yoo ; Taemin Kim ; Provencher, Christopher ; Fong, T.
Author_Institution :
Intell. Robot. Group, NASA Ames Res. Center, Mountain View, CA, USA
Abstract :
This paper explores the possibility of using WiFi localization techniques for autonomous free-flying robots on the International Space Station (ISS). We have collected signal strength samples from the ISS, built the WiFi map using Gaussian processes, implemented a localizer based on particle filters, and evaluated the performance. Our results show the average error of 1.59 meters, which is accurate enough to identify which ISS module the robot is currently in. However, we found that most errors occurred in some specific modules under the current WiFi settings. This paper describes the challenges of applying WiFi localization techniques to the ISS and suggests several approaches to achieve better performance.
Keywords :
Gaussian processes; autonomous aerial vehicles; particle filtering (numerical methods); wireless LAN; Gaussian processes; ISS module; International Space Station; WiFi localization techniques; WiFi map; WiFi settings; autonomous free-flying robots; particle filters; signal strength samples; Buildings; Gaussian processes; IEEE 802.11 Standards; Mathematical model; Robots; Training; Training data;
Conference_Titel :
Intelligent Embedded Systems (IES), 2014 IEEE Symposium on
Conference_Location :
Orlando, FL
DOI :
10.1109/INTELES.2014.7008981