Research on the fusion positioning system of UWB/LiDAR based on the algorithm of SPF and KF

IF 2 4区计算机科学 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC

Physical Communication Pub Date : 2024-10-22 DOI:10.1016/j.phycom.2024.102529

zhaoxia Zhou , yixuan Lu , jingbo Xia

引用次数: 0

Abstract

In order to overcome the disadvantages of single sensor localization in complex indoor environments, this paper proposes a design scheme for the ultra-wide band (UWB) and LiDAR co-location fusion system. To attain the ideal positioning effect of this system, a segmented point fusion approach based on Euclid's theorem is put forward to optimize the conventional extended Kalman filter and unscented Kalman filter algorithms. It can effectively reduce the positioning error of UWB in non-line-of-sight environments and under the multipath effect, and also assist LiDAR in correcting trajectory drift in sparsely textured scenes. Through both simulations and experiments, the feasibility of the proposed algorithm in the UWB/LiDAR positioning system is verified. The results reveal that the positioning error of the enhanced multi-sensor fusion algorithm is reduced by 22% compared with the original algorithm and 25.7% compared with the single sensor positioning method.

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基于 SPF 和 KF 算法的 UWB/LiDAR 融合定位系统研究

为了克服复杂室内环境下单一传感器定位的缺点，本文提出了一种超宽带（UWB）与激光雷达协同定位融合系统的设计方案。为了使该系统达到理想的定位效果，本文提出了一种基于欧几里得定理的分段点融合方法，对传统的扩展卡尔曼滤波算法和无香精卡尔曼滤波算法进行了优化。它能有效降低非视距环境和多径效应下的 UWB 定位误差，还能帮助激光雷达修正稀疏纹理场景中的轨迹漂移。通过仿真和实验，验证了所提算法在 UWB/LiDAR 定位系统中的可行性。结果表明，增强型多传感器融合算法的定位误差比原始算法降低了 22%，比单传感器定位方法降低了 25.7%。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Physical Communication ENGINEERING, ELECTRICAL & ELECTRONICTELECO-TELECOMMUNICATIONS

CiteScore

5.00

自引率

9.10%

发文量

212

审稿时长

55 days

期刊介绍： PHYCOM: Physical Communication is an international and archival journal providing complete coverage of all topics of interest to those involved in all aspects of physical layer communications. Theoretical research contributions presenting new techniques, concepts or analyses, applied contributions reporting on experiences and experiments, and tutorials are published. Topics of interest include but are not limited to: Physical layer issues of Wireless Local Area Networks, WiMAX, Wireless Mesh Networks, Sensor and Ad Hoc Networks, PCS Systems; Radio access protocols and algorithms for the physical layer; Spread Spectrum Communications; Channel Modeling; Detection and Estimation; Modulation and Coding; Multiplexing and Carrier Techniques; Broadband Wireless Communications; Wireless Personal Communications; Multi-user Detection; Signal Separation and Interference rejection: Multimedia Communications over Wireless; DSP Applications to Wireless Systems; Experimental and Prototype Results; Multiple Access Techniques; Space-time Processing; Synchronization Techniques; Error Control Techniques; Cryptography; Software Radios; Tracking; Resource Allocation and Inference Management; Multi-rate and Multi-carrier Communications; Cross layer Design and Optimization; Propagation and Channel Characterization; OFDM Systems; MIMO Systems; Ultra-Wideband Communications; Cognitive Radio System Architectures; Platforms and Hardware Implementations for the Support of Cognitive, Radio Systems; Cognitive Radio Resource Management and Dynamic Spectrum Sharing.