A Robust Detection and Optimization Approach for Delayed Measurements in UWB Particle-Filter-Based Indoor Positioning

IF 3.1 3区地球科学 Q1 ENGINEERING, AEROSPACE

Navigation-Journal of the Institute of Navigation Pub Date : 2022-01-01 DOI:10.33012/navi.514

N. Zhou, L. Lau, Ruibin Bai, Terry Moore

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引用次数: 5

Abstract

Ultrawideband (UWB) technology has received considerable attention in indoor positioning because of its high ranging accuracy. However, UWB range measurements can be contaminated by the delayed signals resulting from obstruction and reflection in difficult indoor environments. These signals introduce delays to range measurements and degrade positioning accuracy if they are not resolved properly. In order to mitigate the effects of delayed range measurements on positioning and achieve a high-accuracy position estimation, this paper proposes a robust particle-filter-based indoor positioning algorithm. In the proposed algorithm, an outlier detection method is proposed for delayed measurement identification, and a constrained particle sampling method is proposed to optimize the distribution of the predicted particles. The proposed algorithm is assessed rigorously through testing. The test results show that the proposed algorithm can effectively identify delayed range measurements, mitigate their effects on position estimation, and improve positioning accuracy

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基于超宽带粒子滤波器的室内定位延迟测量鲁棒检测与优化方法

超宽带(UWB)技术因其测距精度高而在室内定位中受到广泛关注。然而，在困难的室内环境中，由于障碍物和反射导致的延迟信号可能会污染UWB范围测量。这些信号引入延迟距离测量和降低定位精度，如果他们不能正确地解决。为了减轻延迟距离测量对定位的影响，实现高精度的位置估计，本文提出了一种基于鲁棒粒子滤波的室内定位算法。在该算法中，提出了一种异常值检测方法用于延迟测量识别，并提出了一种约束粒子采样方法来优化预测粒子的分布。通过测试对所提出的算法进行了严格的评估。实验结果表明，该算法能有效识别时延测量值，减轻时延对位置估计的影响，提高定位精度

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

Navigation-Journal of the Institute of Navigation ENGINEERING, AEROSPACE-REMOTE SENSING

CiteScore

5.60

自引率

13.60%

发文量

期刊介绍： NAVIGATION is a quarterly journal published by The Institute of Navigation. The journal publishes original, peer-reviewed articles on all areas related to the science, engineering and art of Positioning, Navigation and Timing (PNT) covering land (including indoor use), sea, air and space applications. PNT technologies of interest encompass navigation satellite systems (both global and regional), inertial navigation, electro-optical systems including LiDAR and imaging sensors, and radio-frequency ranging and timing systems, including those using signals of opportunity from communication systems and other non-traditional PNT sources. Articles about PNT algorithms and methods, such as for error characterization and mitigation, integrity analysis, PNT signal processing and multi-sensor integration, are welcome. The journal also accepts articles on non-traditional applications of PNT systems, including remote sensing of the Earth’s surface or atmosphere, as well as selected historical and survey articles.