Grigori Goronzy, M.Sc.

Grigori Goronzy
 Former Staff



Since September 2014 I am a research associate at the faculty of electrical engineering and computer science at the University of Applied Sciences Lübeck. My research focus is telepresence robots, specifically odometry and positioning. 



  • Born on January 31th, 1985
  • B.Sc. in computer science (robotics and automation) at the University of Lübeck in 2010
  • M.Sc. in computer science (software systems engineering) at the University of Lübeck in 2014
  • Research associate at the University of Applied Sciences Lübeck since 2014

Refereed Articles and Book Chapters
[2016] Iterative approach for anchor configuration of positioning systems (Mathias Pelka, Grigori Goronzy, Horst Hellbrück), In ICT Express, volume 2, 2016. [bib] [pdf] [abstract]
With anchor positions and measurements of distances between an object and anchors, positioning algorithms calculate the position of an object, e.g. via lateration. Positioning systems require calibration and configuration prior to operation. In the past, approaches employed reference nodes with GPS or other reference location systems to determine anchor positions. In this article, we propose an approach to determine anchor positions without prior knowledge. We evaluate our approach with simulations and real data based on the Decawave DW1000 radio and show that the error is proportional to the mean error of the distance estimation.
Refereed Conference Papers
[2016] Impact of Altitude Difference for Local Positioning Systems and Compensation with Two-Stage Filters (Mathias Pelka, Grigori Goronzy, Horst Hellbrück), In 2016 International Conference on Localization and GNSS, 2016. [bib] [abstract]
In range-based positioning systems, an altitude difference between tag and reference plane causes errors in two- and three-dimensional positioning. We analyze how these errors reduce accuracy of Local Positioning Systems (LPS) and show how compensation of the altitude difference improves performance of positioning. In this paper, we consider the availability of additional altitude information and transform the three-dimensional positioning problem into a two-dimensional problem. We provide algorithms for time-based positioning systems with a two-stage estimator for Two-Way Ranging and Time Difference of Arrival and incorporate additional altitude information. We simulate our approach for altitude difference compensation and provide an evaluation based on a Ultra-Wideband (UWB) radio with ranging capability and a barometric sensor for additional altitude information. A comparison is then made between our approach and standard solutions such as the Extended Kalman filter and the Unscented Kalman filter. Finally, the successful decrease in the positioning error for two- and three-dimensional positioning system, using the system disclosed herein, is illustrated. Based on our analysis, we derive practical solutions to deal with altitude differences for positioning systems.
[2016] QRPos: Indoor Positioning System for Self-Balancing Robots based on QR Codes (Grigori Goronzy, Mathias Pelka, Horst Hellbrück), In The Seventh International Conference on Indoor Positioning and Indoor Navigation, 2016. [bib]
Refereed Workshop Papers
[2017] Weighted Online Calibration for Odometry of Mobile Robots (Grigori Goronzy, Horst Hellbrück), In IEEE ICC Workshop on Advances in Network Localization and Navigation (ANLN), 2017. [bib]
Other Publications
[2016] Proceedings of the 2nd KuVS Expert Talk on Localization (Mathias Pelka, Grigori Goronzy, Jó Agila Bitsch Link, Horst Hellbrück, Klaus Wehrle), Technical report, RWTH Aachen University Department of Computer Science of RWTH Aachen University (Mathias Pelka, Grigori Goronzy, Jó Agila Bitsch Link, Horst Hellbrück, Klaus Wehrle, eds.), 2016. [bib] [pdf]
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