限制基于雷达的定位解决方案的性能,用于汽车场景
Francesco Bandiera1, Giuseppe Ricci1
1Department of Innovation Engineering, University of Salento, 73100 Lecce, Italy.
Sensors (Basel, Switzerland)
|January 8, 2025
概括
本研究探讨了使用里程碑测量进行无GPS车辆定位,计算理论上最好的性能 (Cramér-Rao下限) 以在没有卫星信号的情况下准确地定位汽车.
科学领域:
- 汽车工程 汽车工程
- 机器人技术 机器人技术 机器人技术
- 地理学工程 工程地质学
背景情况:
- 高精度的车辆定位对于道路安全应用至关重要.
- 包括GPS在内的全球导航卫星系统 (GNSS) 是定位的标准,但由于障碍,在城市环境中扎.
- 现有的GNSS限制需要替代定位解决方案,以确保可靠的汽车安全.
研究的目的:
- 调查车辆的无GPS定位方案.
- 确定这些计划的最终性能限制 (克拉梅尔-拉奥下限).
- 评估基于地标的本地化在汽车应用中的可行性.
主要方法:
- 计算Cramér-Rao下限 (CRLB) 以获得定位精度.
- 使用已知地标的距离和/或角度测量.
- 在受阻场景中模拟车辆位置估计.
主要成果:
- 建立了无GPS定位的理论性能极限.
- 在具有挑战性的环境中展示了基于地标的方案的潜力.
- 使用不同的测量类型 (范围/角度) 量化可实现的精度.
结论:
- 使用地标进行无GPS定位是汽车安全的可行替代方案.
- CRLB的分析为这些系统的基本局限性提供了关键的见解.
- 未来的研究可以在这些边界基础上进行实际的系统设计.
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