BASIL:基于二进制锚点的智能室内定位

IF 6.6 1区 计算机科学 Q1 Multidisciplinary
Zhe Yang;Yanjun Li;Yufan Zhang;Yun Pan;Chung Shue Chen;Yi-hua Zhu
{"title":"BASIL:基于二进制锚点的智能室内定位","authors":"Zhe Yang;Yanjun Li;Yufan Zhang;Yun Pan;Chung Shue Chen;Yi-hua Zhu","doi":"10.26599/TST.2024.9010008","DOIUrl":null,"url":null,"abstract":"Indoor localization has been challenging research due to the invalidity of the global navigation satellite system in indoor scenarios. Recent advances in ambient assistive living have shown great power in detecting and locating persons living in their homes, especially using the ON/OFF binary sensors. In this paper, we exploit the Bluetooth low-energy beacons as device-based binary anchors under the lowest transmission power to turn any indoor activity and facility interaction into a binary location indicator. The binary anchors are fused with an extended Kalman filter based pedestrian dead-reckoning using a factor graph optimization, with extra constraints including the normalized magnetic loop closure which is optimized using an attenuation factor, and a rapidly-exploring random tree-based map collision validation. The proposed system provides a cost-effective, scalable, and robust localization for common indoor scenarios. The experimental results show an effective sub-meter precision for the long-term trajectories, and a small amount of anchors is enough for significant calibration in large scenarios.","PeriodicalId":48690,"journal":{"name":"Tsinghua Science and Technology","volume":"30 1","pages":"1-17"},"PeriodicalIF":6.6000,"publicationDate":"2024-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10676357","citationCount":"0","resultStr":"{\"title\":\"BASIL: Binary Anchor-Based Smart Indoor Localization\",\"authors\":\"Zhe Yang;Yanjun Li;Yufan Zhang;Yun Pan;Chung Shue Chen;Yi-hua Zhu\",\"doi\":\"10.26599/TST.2024.9010008\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Indoor localization has been challenging research due to the invalidity of the global navigation satellite system in indoor scenarios. Recent advances in ambient assistive living have shown great power in detecting and locating persons living in their homes, especially using the ON/OFF binary sensors. In this paper, we exploit the Bluetooth low-energy beacons as device-based binary anchors under the lowest transmission power to turn any indoor activity and facility interaction into a binary location indicator. The binary anchors are fused with an extended Kalman filter based pedestrian dead-reckoning using a factor graph optimization, with extra constraints including the normalized magnetic loop closure which is optimized using an attenuation factor, and a rapidly-exploring random tree-based map collision validation. The proposed system provides a cost-effective, scalable, and robust localization for common indoor scenarios. The experimental results show an effective sub-meter precision for the long-term trajectories, and a small amount of anchors is enough for significant calibration in large scenarios.\",\"PeriodicalId\":48690,\"journal\":{\"name\":\"Tsinghua Science and Technology\",\"volume\":\"30 1\",\"pages\":\"1-17\"},\"PeriodicalIF\":6.6000,\"publicationDate\":\"2024-09-11\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10676357\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Tsinghua Science and Technology\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://ieeexplore.ieee.org/document/10676357/\",\"RegionNum\":1,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"Multidisciplinary\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Tsinghua Science and Technology","FirstCategoryId":"94","ListUrlMain":"https://ieeexplore.ieee.org/document/10676357/","RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"Multidisciplinary","Score":null,"Total":0}
引用次数: 0

摘要

由于全球导航卫星系统在室内场景中的无效性,室内定位一直是一项具有挑战性的研究。环境辅助生活领域的最新进展表明,特别是使用开/关二进制传感器,在检测和定位居住在家中的人方面具有巨大的威力。在本文中,我们利用蓝牙低能量信标作为基于设备的二进制锚点,以最低的传输功率将任何室内活动和设施互动转化为二进制位置指示器。二进制锚点与基于扩展卡尔曼滤波器的行人死区重定位融合在一起,使用因子图优化,并增加了额外的约束条件,包括使用衰减因子优化的归一化磁环闭合,以及基于快速探索随机树的地图碰撞验证。所提出的系统为常见的室内场景提供了一种经济高效、可扩展且稳健的定位方法。实验结果表明,长期轨迹的有效精度可达到亚米级,在大型场景中,少量的锚点就足以进行重要的校准。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
BASIL: Binary Anchor-Based Smart Indoor Localization
Indoor localization has been challenging research due to the invalidity of the global navigation satellite system in indoor scenarios. Recent advances in ambient assistive living have shown great power in detecting and locating persons living in their homes, especially using the ON/OFF binary sensors. In this paper, we exploit the Bluetooth low-energy beacons as device-based binary anchors under the lowest transmission power to turn any indoor activity and facility interaction into a binary location indicator. The binary anchors are fused with an extended Kalman filter based pedestrian dead-reckoning using a factor graph optimization, with extra constraints including the normalized magnetic loop closure which is optimized using an attenuation factor, and a rapidly-exploring random tree-based map collision validation. The proposed system provides a cost-effective, scalable, and robust localization for common indoor scenarios. The experimental results show an effective sub-meter precision for the long-term trajectories, and a small amount of anchors is enough for significant calibration in large scenarios.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
Tsinghua Science and Technology
Tsinghua Science and Technology COMPUTER SCIENCE, INFORMATION SYSTEMSCOMPU-COMPUTER SCIENCE, SOFTWARE ENGINEERING
CiteScore
10.20
自引率
10.60%
发文量
2340
期刊介绍: Tsinghua Science and Technology (Tsinghua Sci Technol) started publication in 1996. It is an international academic journal sponsored by Tsinghua University and is published bimonthly. This journal aims at presenting the up-to-date scientific achievements in computer science, electronic engineering, and other IT fields. Contributions all over the world are welcome.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信