手持式地面透雷达天线位置估计使用因子图表.
Paweł Słowak1, Tomasz Kraszewski1, Piotr Kaniewski1
1Faculty of Electronics, Military University of Technology, ul. gen. S. Kaliskiego 2, 00-908 Warsaw, Poland.
Sensors (Basel, Switzerland)
|September 19, 2025
概括
一种新的因子图算法显著提高了手持地面透雷达 (HH-GPR) 定位精度,比以前的方法提高了30-50%. 这提高了地下成像和埋藏物体检测.
科学领域:
- 地质物理学 地质物理学
- 地理空间技术是什么?
- 机器人和自动化机器人与自动化
背景情况:
- 手持式地面透雷达 (HH-GPR) 的精确定位对于有效的地下成像和绘图至关重要.
- 之前的工作建立了一个带有扩展卡尔曼波器 (EKF) 和专有摆形 (PND) 动态模型的UWB定位系统,以实现高精度.
研究的目的:
- 开发和评估基于因子图的估计算法,以进行增强的HH-GPR天线轨迹估计.
- 为了提高EKF PND方法所取得的定位精度.
主要方法:
- 在现实的条件下建模HH-GPR定位系统.
- 实现和比较EKF PND和各种因子图算法.
- 利用因子图的稀疏矩阵表示,以获得高效的代解决方案.
主要成果:
- 与EKF PND相比,因子图方法在定位准确度上显著改善,从30%以上到近50%不等.
- 稀疏矩阵表示方便了线性化系统的高效代解决方案.
结论:
- 与EKF PND方法相比,基于因子图的算法为HH-GPR定位提供了更高的准确性.
- 预计提高定位精度将导致更清晰的地下图像和更可靠的埋藏物体和基础设施的识别.
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