变压器编码器方法用于在IMU和基于GPS的传感器中断时的GPS定位重建
Kévin Cédric Guyard1, Jonathan Bertolaccini1, Stéphane Montavon2
1Information Science Institute, GSEM/CUI, University of Geneva, 1227 Carouge, Switzerland.
Sensors (Basel, Switzerland)
|January 25, 2025
概括
本研究介绍了一种基于变压器的新方法,用于后处理本地化,在GPS中断时提高准确性. 该方法增强了对不需要实时数据的应用程序的轨迹估计.
科学领域:
- 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
- 人工智能的人工智能
背景情况:
- 准确的定位对于许多应用程序至关重要,但全球定位系统 (GPS) 信号在弱信号或中断环境中不可靠.
- 现有的解决方案主要侧重于实时本地化,为需要强大的后处理的非实时应用程序留下了空白.
- 高速度和加速场景,如跟踪动物,呈现独特的本地化挑战,目前的方法没有完全解决.
研究的目的:
- 开发和评估一种使用基于变压器的双向编码器的新型后处理本地化方法.
- 为解决GPS在弱信号或停机期间的局限性,用于非实时应用.
- 在充满挑战的动态环境中提高定位精度和轨迹估计.
主要方法:
- 使用基于变压器的双向编码器来预测GPS信号退化期间的速度.
- 双向速度集成被用于位置计算,并通过位置插值来实现无过渡来补充.
- 该方法在涉及高速动物追踪的数据集上进行了测试.
主要成果:
- 拟议的方法在后处理中实现了平均轨迹误差低于3米.
- 无论全球定位系统 (GPS) 停机持续时间如何,稳定的相对距离误差都保持不变.
- 该方法在具有挑战性的数据集中表现出有效性,速度高达行人速度的10倍.
结论:
- 基于变压器的双向编码器提供了一个强大的解决方案,用于在GPS中断期间进行后处理本地化.
- 该方法提供了准确而平稳的轨迹估计,特别是在高度动态的场景.
- 这种方法增强了实时约束不至关重要的应用程序的本地化功能.
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