惯性导航和环境校正室内超宽带距离和定位方法的研究
Chunhua Han1, Shunbiao Xue1, Li Long1
1Faculty of Transportation Engineering, Kunming University of Science and Technology, Kunming 650500, China.
Sensors (Basel, Switzerland)
|January 11, 2024
概括
本研究提出了一种使用超宽带 (UWB) 信号和惯性导航来克服信号中断的新型室内定位方法. 该技术在非视线 (NLOS) 条件下显著提高了精度,提高了空间定位精度.
科学领域:
- 工程 工程师 工程师 工程师
- 计算机科学 计算机科学
- 信号处理 信号处理
背景情况:
- 室内定位系统因建筑物内的信号障碍而面临挑战,导致精度降低.
- 超宽带 (UWB) 信号提供强大的透能力,特别是在非视线 (NLOS) 场景中,使其适合室内环境.
- 现有的方法,如扩展平方根卡尔曼波器 (ESKF) 用于IMU/UWB融合,在纠正信号传播错误方面存在局限性.
研究的目的:
- 开发和验证一个高精度的室内定位方法.
- 通过纠正通过墙壁的信号传播错误来提高NLOS条件下的距离精度.
- 为了利用超宽带 (UWB) 信号与惯性导航和环境调整相结合,实现卓越的空间定位.
主要方法:
- 数字化空间环境以保持错误纠正参数.
- 使用惯性导航用于空间坐标估计和信号传播路径划分.
- 在NLOS场景中反复改进定位结果以提高NLOS场景的精度.
- 将UWB范围与惯性测量单元 (IMU) 数据和环境调整相结合.
主要成果:
- 与独立的UWB和基于ESKF的IMU/UWB融合相比,拟议的定位技术在NLOS条件下显著提高了平面定位精度.
- 观察到高度准确度的边际改善,尽管仍然存在一些与实际值的残余偏差.
- 该方法有效地纠正了NLOS设置中的定位结果,证明了它的稳定性.
结论:
- 这项研究引入了一种新且有效的方法,用于使用UWB技术优化室内定位.
- 联合UWB,惯性导航和环境调整的方法在室内实现高精度空间定位方面取得了重大进展.
- 这些发现为更可靠,更准确的室内定位解决方案铺平了道路,特别是在具有挑战性的NLOS环境中.
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