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First navigation with wireless muometric navigation system (MuWNS) in indoor and underground environments

Tanaka, Hiroyuki K.M.; Gallo, Giuseppe; Gluyas, Jon; Kamoshida, Osamu; Lo Presti, Domenico; Shimizu, Takashi; Steigerwald, Sara; Takano, Koji.; Yang, Yucheng; Yokota, Yusuke

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Hiroyuki K.M. Tanaka

Giuseppe Gallo

Osamu Kamoshida

Domenico Lo Presti

Takashi Shimizu

Sara Steigerwald

Koji. Takano

Yucheng Yang

Yusuke Yokota


Navigation in indoor and underground environments has been extensively studied to realize automation of home, hospital, office, factory and mining services, and various techniques have been proposed for its implementation. By utilizing the relativistic and penetrative nature of cosmic-ray muons, a completely new wireless navigation technique called wireless muometric navigation system (MuWNS) was developed. This paper shows the results of the world’s first physical demonstration of MuWNS used on the basement floor inside a building to navigate (a person) in an area where global navigation satellite system (GNSS)/ global positioning system (GPS) signals cannot reach. The resultant navigation accuracy was comparable or better than the positioning accuracy attainable with single-point GNSS/GPS positioning in urban areas. With further improvements in stability of local clocks used for timing, it is anticipated that MuWNS can be adapted to improve autonomous mobile robot navigation and positioning as well as other underground and underwater practical applications.


Tanaka, H. K., Gallo, G., Gluyas, J., Kamoshida, O., Lo Presti, D., Shimizu, T., …Yokota, Y. (2023). First navigation with wireless muometric navigation system (MuWNS) in indoor and underground environments. iScience, 26(7), 107000.

Journal Article Type Article
Acceptance Date May 24, 2023
Online Publication Date May 29, 2023
Publication Date May 29, 2023
Deposit Date Oct 25, 2023
Publicly Available Date Oct 25, 2023
Journal iScience
Publisher Cell Press
Peer Reviewed Peer Reviewed
Volume 26
Issue 7
Pages 107000
Keywords Multidisciplinary
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Published Journal Article (3.5 Mb)


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