基于注意力的LSTM框架,用于在NLOS环境中强大的UWB和INS集成
Meilin Ren1, Junyu Wei2, Jiangyi Qin3
1CATARC Automotive Test Center (Tianjin) Co., Ltd., Tianjin, 300300, China.
Scientific reports
|July 2, 2025
概括
本研究介绍了基于注意力的长短期记忆 (LSTM) 网络,用于超宽带/惯性导航系统 (UWB/INS) 集成. 新的框架通过生成可靠的伪测量来提高非视线 (NLOS) 条件下的定位准确性.
科学领域:
- 导航系统工程 导航系统工程
- 机器人技术中的人工智能
- 信号处理 信号处理
背景情况:
- 超宽带 (UWB) 和惯性导航系统 (INS) 的整合对于精确的定位至关重要.
- 非视线 (NLOS) 传播显著降低了UWB信号质量,影响了定位准确性.
- 现有的基于卡尔曼波器的集成方法在NLOS环境中与UWB信号退化作斗争.
研究的目的:
- 提出一种新的UWB/INS集成框架,使用基于注意力的LSTM神经网络.
- 为了应对在NLOS传播中UWB信号退化的挑战.
- 为了提高UWB/INS本地化在具有挑战性的环境中的稳定性和准确性.
主要方法:
- 基于注意力的长期短期记忆 (LSTM) 神经网络的开发.
- 使用LSTM网络在NLOS条件下生成卡尔曼波器更新的伪测量.
- 实施基于模型和基于学习的技术的混合融合,以实现UWB/INS集成.
主要成果:
- 注意LSTM模型有效地产生伪UWB观测,并保持卡尔曼波器更新.
- 在NLOS场景下,在松散和紧密合的UWB/INS配置中显示的定位错误显著减少.
- 增强时间特征提取和提高伪观测生成的准确性.
结论:
- 拟议的attention-LSTM框架为NLOS条件下UWB/INS本地化提供了一个强大的解决方案.
- 这种混合方法有效地减轻了UWB信号退化挑战.
- 该方法通过先进的深度学习集成来确保精确可靠的本地化.
更多相关视频
06:37Author Spotlight: Addressing Technical and Subjective Challenges in Measuring Classroom Attention
Published on: December 15, 2023
4.1K
04:13Using a Real-Time Locating System to Measure Walking Activity Associated with Wandering Behaviors Among Institutionalized Older Adults
Published on: February 8, 2019
6.9K
相关概念视频
01:26Errors in Global Positioning System
117
Global Positioning System (GPS) technology has revolutionized navigation and positioning, but its accuracy is often compromised by various errors. These errors, stemming from environmental, satellite, and receiver-related factors, require careful mitigation to ensure reliable performance across applications.Atmospheric ErrorsGPS signals travel through the Earth’s ionosphere and troposphere, introducing delays which affect accuracy. The ionosphere is strongly influenced by charged particles,...
117
01:28Field Application of Global Positioning System
95
The Global Positioning System (GPS) has become an indispensable tool in fieldwork, offering unparalleled precision and efficiency for surveying, navigation, and infrastructure development. By harnessing signals from a constellation of satellites, GPS receivers determine the location of objects with remarkable speed and accuracy, often completing calculations within a second.Advantages of Modern GPS TechnologyContemporary GPS receivers are designed to meet the practical demands of field...
95
01:30Types of Global Positioning System Surveys
124
GPS surveying methods vary in application, accuracy, and data collection techniques, catering to diverse surveying and mapping needs. Static GPS, kinematic GPS, and real-time kinematic (RTK) surveying are widely used. Each technique offers distinct advantages.Static GPS involves placing one receiver at a known reference point and another at the target point. It collects exact positional data by observing multiple satellite ranges over an extended period, achieving centimeter-level accuracy for...
124
01:30Introduction to Global Positioning System
146
The Global Positioning System (GPS) revolutionized positioning on Earth, providing precise location data through satellite ranging. The GPS system was developed in 1978 by the U.S. Department of Defense for military use, and it became available for civilian applications in 1983, transforming fields including navigation, fleet management, and time synchronization for telecommunications systems.GPS consists of satellites in medium Earth orbit, about 20,200 kilometers above the surface,...
146
01:23Linear time-invariant Systems
440
A system is linear if it displays the characteristics of homogeneity and additivity, together termed the superposition property. This principle is fundamental in all linear systems. Linear time-invariant (LTI) systems include systems with linear elements and constant parameters.
The input-output behavior of an LTI system can be fully defined by its response to an impulsive excitation at its input. Once this impulse response is known, the system's reaction to any other input can be...
The input-output behavior of an LTI system can be fully defined by its response to an impulsive excitation at its input. Once this impulse response is known, the system's reaction to any other input can be...
440