Indoor Relative Localization With Mobile Short-Range Radar

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Executive Summary

The aim of this paper is to propose a novel indoor positioning technique operated without any infrastructure by use of radar sensors. In this paper, the system which utilizes relative velocity measurements from Continuous Wave (CW) based radars is described as well as a combination of a radar and a gyro sensor. The former configuration results in 2.1m error for 21m total trajectory length and the latter have 11.6cm error which can be improved down to 6.8cm error for the same trajectory. The results are very promising for the authors' objective application, infrastructure independent indoor localization for first-responders and robots.

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