位置感知范围错误纠正用于改进UWB定位
Sander Coene1, Chenglong Li2, Sebastian Kram3
1WAVES Group, Department of Information Technology, Ghent University-imec, 9052 Ghent, Belgium.
Sensors (Basel, Switzerland)
|May 25, 2024
概括
我们引入了位置感知距离校正 (LARC),以提高超宽带 (UWB) 距离精度. 这种方法通过使用位置估计来纠正错误来提高本地化性能,在没有额外的硬件的情况下实现了显著的改进.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 传感器融合式传感器
- 无线通信无线通信
背景情况:
- 现有的超宽带 (UWB) 距离校正方法依赖于通道信息.
- 这些方法往往缺乏稳定性,并且可能过度适应.
- 在没有额外的硬件的情况下,需要提高距离精度.
研究的目的:
- 为UWB信号提供一个新的定位方案,位置感知距离校正 (LARC).
- 通过将初步位置估计纳入校正模型来提高距离精度.
- 为了提高本地化性能,而不需要额外的硬件,如惯性测量单元 (IMU).
主要方法:
- 开发了LARC方案,将基于位置的特征集成到范围错误预测模型中.
- 使用开放访问的UWB测量数据集,测量距离高达20米.
- 在CPU上实时运行一个简单的回归模型.
主要成果:
- 减少了58%的第90百分位 (P90) 范围错误,为一个看不见的轨迹减少了15厘米.
- 提高了2D定位P90错误21%至18厘米.
- 在移动金属物体的变化环境中表现出强度,实现56%更好的P90距离 (16厘米) 和17%的2D定位 (18厘米) 改进.
结论:
- LARC方法显著提高了UWB范围和定位的准确性.
- 该方法对环境变化具有稳定性,不需要额外的硬件.
- 对于实时UWB定位,LARC提供了一个实用而高效的解决方案.
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