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Sensors 2017, 17(9), 2124; doi:10.3390/s17092124

Indoor Positioning System Based on a PSD Detector, Precise Positioning of Agents in Motion Using AoA Techniques

Department of Electronics, University of Alcalá, Alcalá de Henares, 28801 Madrid, Spain
Computer and Informatics Engineering Department, Eastern Macedonia and Thrace Institute of Technology, 65404 Kavala, Greece
Author to whom correspondence should be addressed.
Received: 26 July 2017 / Revised: 11 September 2017 / Accepted: 12 September 2017 / Published: 15 September 2017
(This article belongs to the Section Physical Sensors)


Here, we present an indoor positioning system (IPS) for detecting mobile agents based on a single Position Sensitive Device sensor (PSD) sited in the environment and InfraRed Emitter Diode (IRED) located on mobile agents. The main goal of the work is to develop an alternative IPS to other sensing technologies, cheaper, easier to install and with a low computational load to obtain a high rate of measurements per second. The proposed IPS has the capacity to accurately determine 3D position from the angle of arrival (AoA) of the signal received at the PSD sensor. In this first approach to the method, the agents are considered to move along a plane. We propose two alternatives for determining position: in one, tones are emitted on a frequency unique to each transmitter, while in the other, sequences are emitted.The paper proposes and set up a very simple and easy to deploy system capable of performing 3D positioning with a single analog sensor, obtaining a high accurate positioning and a reduced execution time for the signal processing. The low computational load of the IPS makes it possible to obtain a very high position update rate (more than 100 times per second), yielding millimetric accuracies. View Full-Text
Keywords: indoor positioning system; PSD; optical signal; AoA; multi-agent localization indoor positioning system; PSD; optical signal; AoA; multi-agent localization

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Rodríguez-Navarro, D.; Lázaro-Galilea, J.L.; De-La-Llana-Calvo, Á.; Bravo-Muñoz, I.; Gardel-Vicente, A.; Tsirigotis, G.; Iglesias-Miguel, J. Indoor Positioning System Based on a PSD Detector, Precise Positioning of Agents in Motion Using AoA Techniques. Sensors 2017, 17, 2124.

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