综合户外UWB数据集:在LOS/NLOS环境中的静态和动态测量
Byeonghyun Lee1, Jeik Choi1, Siheon Jeong1
1Department of Mechanical Convergence Engineering, Hanyang University, 222 Wangsimni-ri, Seongdong-gu, Seoul, 04763, Republic of Korea.
Scientific data
|September 2, 2025
概括
这项研究引入了一个新的户外超宽带数据集,用于分析实时定位的多路径效应. 这些发现突出了反射和衰减的范围错误,这对于优化部署至关重要.
科学领域:
- 机器人和导航
- 无线通信系统
- 地理工程
背景情况:
- 多路径传播显著影响超宽带 (UWB) 定位精度,特别是在户外非视线 (NLOS) 场景中.
- 现有的数据集往往缺乏全面的户外测量,无法捕捉动态环境因素和多种多种条件.
研究的目的:
- 提供一个新的,全面的户外UWB数据集,用于分析视线 (LOS) 和NLOS环境中的多路径效应.
- 使用UWB技术开发和评估实时本地化算法.
- 以高精度的全球导航卫星系统 (GNSS) 解决方案来评估本地化性能.
主要方法:
- 收集静态UWB数据,改变天线高度和距离,以评估多路干扰和距离错误,模拟NLOS条件与墙壁.
- 使用移动机器人系统获取动态数据集,在各种定配置下集成惯性测量单元 (IMU),GNSS和UWB测量.
- 实现并提供两个代表性的本地化算法:最小平方和错误状态卡尔曼波器.
主要成果:
- 由天线高度影响的地面反射和弗雷内尔区域信号衰减引起的距离错误,为UWB位提供了洞察力.
- 证明了数据集在对高精度RTK-GNSS进行本地化方法的评估中的实用性,展示了性能改进的潜力.
- 量化了静态和动态户外环境中的离散多路径对UWB信号传播和定位精度的影响.
结论:
- 通过解决复杂的多路径现象,全面的户外UWB数据集是推动实时本地化研究的宝贵资源.
- 了解和减轻多路径效应,特别是与天线高度和环境障碍相关的效应,对于强大的户外UWB定位至关重要.
- 提供的数据集和基线算法加快了在各种现实世界户外环境中的本地化系统的研究和改进.
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