一个安全的ZUPT辅助室内导航系统使用区块链在GNSS拒绝的环境中
Ali Shakerian1, Ali Eghmazi1, Justin Goasdoué2
1Department of Electrical Engineering, École de Technologie Supérieure, Montréal, QC H3C 1K3, Canada.
Sensors (Basel, Switzerland)
|July 29, 2023
概括
本研究介绍了一种基于区块链的安全室内导航系统,使用双惯性测量单元 (IMU) 和零速度更新 (ZUPT). 它在没有外部信号的情况下实现准确的定位,增强数据完整性和隐私.
科学领域:
- 机器人技术和自主系统
- 网络安全 网络安全
- 导航和定位 导航和定位
背景情况:
- 全球导航卫星系统 (GNSS) 拒绝的环境对准确和安全的室内导航构成重大挑战.
- 现有的室内导航系统通常依赖于外部基础设施或易受数据操纵的影响.
- 区块链技术的整合为提高导航数据的安全性和可靠性提供了一个有希望的解决方案.
研究的目的:
- 提出和评估一个新的基于区块链的室内导航系统.
- 增强GNSS拒绝环境中的导航数据的准确性,安全性和隐私性.
- 为了证明该系统适用于自动驾驶汽车,机器人和人类跟踪等应用.
主要方法:
- 使用脚部安装的双惯性测量单元 (IMU) 设置进行运动传感.
- 实施扩展卡尔曼波器 (EKF) 用于传感器数据融合和状态估计.
- 使用零速度更新 (ZUPT) 算法来纠正传感器漂移并提高位置精度.
- 利用基于区块链的低SWaP-C分散架构 (Hyperledger Fabric) 进行安全的数据管理.
主要成果:
- 该系统展示了高交易处理能力 (每秒超过680个交易).
- 在20分钟的测试中,实现了特殊的准确性和稳定性,平均根平均平方误差 (RMSE) 为1.2m,峰值RMSE为3.2m.
- 提供了通过区块链利用增强数据完整性,隐私和安全性的明确证据.
结论:
- 拟议的系统为GNSS无法使用的环境中室内导航提供了一个安全,准确和实用的解决方案.
- 区块链技术有效地确保了导航数据的可靠性和不变性.
- 该系统对外部信号的独立性使其成为各种自主和跟踪应用的多功能解决方案.
关键词:
区块链区块链区块链区块链区块链扩展的卡尔曼波器 (EKF)这就是GNSS-denied.室内导航 室内导航惯性测量单位 (IMU) 是指惯性测量单位.定位定位 定位定位一个安全的安全的安全.零速度更新 (ZUPT) 是指零速度更新.更多相关视频
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