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Abstract and Applied Analysis
Volume 2013 (2013), Article ID 972371, 14 pages
Research Article

A Dynamic Cooperative Scheme with Multiple Antennas for Indoor Mobile Robot Localization

Department of Biomechatronics Engineering, National Pingtung University of Science and Technology, No. 1 Shuefu Road, Neipu, Pingtung County 91201, Taiwan

Received 12 June 2013; Accepted 28 August 2013

Academic Editor: Chang-Hua Lien

Copyright © 2013 Chung-Liang Chang and Bo-Han Wu. 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.


This paper proposes a spatial cooperative diversity and decision-making technique to enhance signal detection and indoor mobile robot positioning performance of a global positioning satellite system (GNSS) receiver. Though the adaptive antenna array technique in early research could effectively promote antijamming freedom, overcome time-varying system, and mitigate narrowband and wideband interferences, factors such as the decrease of signal magnitude caused by obstacles (especially in the indoor environment), multipath, and blanking effect caused by the change in antenna direction with the motion of mobile robot can degrade the detection and interference mitigation performance of GNSS receivers. This paper aims to develop a dynamic cooperative scheme to proceed with the switch, selection, combination, and optimization among antennas. In addition, a signal processing experimental platform is also established to receive actually indoor GNSS signals for verification. The proposed scheme is capable of effectively promoting the postcorrelation signal-to-noise ratio (SNR) capability of a GNSS receiver under the indoor environment.