High Precision Positioning System

TL;DR

SAPPO is an innovative indoor localization system that uses ultrasound transducers in a novel arrangement to achieve high precision and scalability with fewer beacons, suitable for mobile robots.

Contribution

The paper introduces a low-cost, high-precision ultrasound-based indoor positioning system with a unique horizontal arrangement of beacons and transmitters.

Findings

Achieves millimeter-range accuracy in indoor localization.

Reduces beacon density while maintaining high precision.

Extends ultrasound localization capabilities to scalable indoor environments.

Abstract

SAPPO is a high-precision, low-cost and highly scalable indoor localization system. The system is designed using modified HC-SR04 ultrasound transducers as a base to be used as distance meters between beacons and mobile robots. Additionally, it has a very unusual arrangement of its elements, such that the beacons and the array of transmitters of the mobile robot are located in very close planes, in a horizontal emission arrangement, parallel to the ground, achieving a range per transducer of almost 12 meters. SAPPO represents a significant leap forward in ultrasound localization systems, in terms of reducing the density of beacons while maintaining average precision in the millimeter range.