Muometric positioning system (muPS) utilizing direction vectors of cosmic-ray muons for wireless indoor navigation at a centimeter-level accuracy

Since the development of many future technologies are becoming more and more dependent on indoor navigation, various alternative navigation techniques have been proposed with radio waves, acoustic, and laser beam signals. In 2020, muometric positioning system (muPS) was proposed as a new indoor navigation technique; in 2022, the first prototype of wireless muPS was demonstrated in underground environments. However, in this first physical demonstration, its navigation accuracy was limited to 2-14 m which is far from the level required for the practical indoor navigation applications. This positioning error was an intrinsic problem associated with the clock that was used for determining the time of flight (ToF) of the muons, and it was practically impossible to attain cm-level accuracy with this initial approach. This paper introduces the completely new positioning concept for muPS, Vector muPS, which works by determining direction vectors of incoming muons instead of utilizing ToF. It is relatively easier to attain a 10-mrad level angular resolution with muon trackers that have been used for muographic imagery. Therefore, Vector muPS retains the unique capacity to operate wirelessly in indoor environments and also has the capacity to achieve a cm-level accuracy. By utilizing an essentially different concept from what is used in other navigation techniques, (measuring the distance between the reference and the receiver), Vector muPS enables more flexible, and longer-term stable positioning. Anticipated applications and the future outlook of Vector muPS is also discussed.