一种定位和导航方法,结合了多动作特征,死算和声学定位
Suqing Yan1,2, Xiaoyue Xu2, Xiaonan Luo3
1Guangxi Key Laboratory of Precision Navigation Technology and Application, Guilin University of Electronic Technology, Guilin 541004, China.
Sensors (Basel, Switzerland)
|December 23, 2023
概括
这项研究引入了一种新的融合定位导航系统,它结合了声学和惯性辅助方法. 这种新的方法显著提高了本地化准确性和稳定性,克服了个别技术的局限性.
科学领域:
- 导航系统 导航系统
- 传感器融合式传感器
- 地理学工程 工程地质学
背景情况:
- 准确的位置信息对于商业和社会应用至关重要.
- 声学定位提供了高精度,但有异常.
- 惯性辅助定位 (IAP) 提供自主能力,但会积累错误.
研究的目的:
- 开发一种新的定位导航系统,整合声学估计和行人死亡计算 (PDR).
- 解决个别定位方法的局限性,即声系统中的异常和PDR中的错误积累.
- 通过传感器融合和一个新的步骤长度模型来提高定位的准确性和稳定性.
主要方法:
- 从运动数据中提取特征 (加速高峰到低谷幅度差异,步行频率,方差,平均值,高峰/低谷中位数).
- 使用之前的步骤和当前加速数据进行步骤长度预测,并通过LASSO调整进行优化.
- 通过混合CHAN-Taylor算法进行声学估计.
- 使用扩展卡尔曼波器 (EKF) 结合改进的PDR和声学估计来确定位置.
主要成果:
- 在两种场景和异质设备的比较实验中,在8至56.28厘米的局部化准确度.
- 证明了PDR固有的累积错误的显著缓解.
- 在不同的实验条件下展示了高强度本地化性能.
结论:
- 拟议的核聚变定位导航系统有效地整合了声学和PDR方法.
- 新的阶段长度模型和融合策略提高了准确性,克服了个体系统的局限性.
- 该方法为基于位置的服务提供了强大而准确的解决方案,特别是在具有挑战性的环境中.
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