Telamon - Indoor Relative Positioning System (IRPS)

1. To perform indoor relative positioning without:

• Internal building map

• Pre-installed infrastructure

• Finger-printing training

2. Utilize sensors of various characteristics, and perform a sensor fusion:

• Self-Referencing Sensor: IMU

• External-Referencing Sensor: Wifi / FM

• Inter-Referencing Sensor: UWB

Indoor Localization without Map / Infrastructure / Training

( A novel inverse pendulum model enables

accurate movement tracking with IMU

at upper torso)

(Combining multiple radio frequencies

can achieve higher accuracy)

(In a room of dimension 25m × 14m with 9 access points, we can differentiate two paths that are

less than 3 meters apart, by just using Wifi signal)

( Combining inter-referencing and external referencing

can resolve the ambiguity without training)

External-Referencing

Self-Referencing Self + External Referencing

Self + Inter + External Referencing

Asst Prof Yuen Chau, Asst Prof Tan U-Xuan, Liu Ran, Richard Do Tri Nhut

Inter + External Referencing

(Particle filter based sensor fusion)

Tested in support for NDP 2016