Although indoor localization has been a wide researched topic, obtained results may not fit the requirements that some domains need. Most approaches are not able to precisely localize a fast moving object even with a complex installation, which makes their implementation in the automated driving domain complicated. In this publication, common technologies were analyzed and a commercial product, called Marvelmind Indoor GPS, was chosen for our use case in which both ultrasound and radio frequency communications are used. The evaluation is given in a first moment on small indoor scenarios with static and moving objects. Further tests were done on wider areas, where the system is integrated within our Robotics Operating System (ROS)-based self-developed 'Smart PhysIcal Demonstration and evaluation Robot (SPIDER)' and the results of these outdoor tests are compared with the obtained localization by the installed GPS on the robot. Finally, the next steps to improve the results in further developments are discussed.

中文翻译：

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一种移动机器人室内定位系统的评价

尽管室内定位一直是一个广泛的研究课题，但获得的结果可能不符合某些领域的要求。即使安装复杂，大多数方法也无法精确定位快速移动的物体，这使得它们在自动驾驶领域的实现变得复杂。在本出版物中，我们分析了通用技术，并为我们使用超声波和射频通信的用例选择了一种名为 Marvelmind 室内 GPS 的商业产品。评估是在具有静态和移动物体的小型室内场景的第一时刻给出的。在更广泛的领域进行了进一步的测试，该系统集成在我们基于机器人操作系统（ROS）的自主开发的“智能物理演示和评估机器人（SPIDER）”中 并将这些室外测试的结果与机器人上安装的 GPS 获得的定位进行比较。最后，讨论了在进一步开发中改进结果的后续步骤。