{"title":"基于超宽带自适应融合的地下管廊检测高效定位方法","authors":"Haoyue Lin, Zehua Yin, Chunwu Wang, Yifan Lin, Muhammad Suhail Shaikh, Chang Wang, Xiaoqing Dong","doi":"10.1049/cmu2.70037","DOIUrl":null,"url":null,"abstract":"<p>To address the challenges of slow positioning speed and inaccurate localisation of underground pipeline corridors in complex environments using ultra-wideband (UWB) absolute positioning, this paper proposes a Hybrid UWB-IMU Adaptive Localisation Algorithm (HUIALA) for precise underground pipeline corridor positioning. The positioning method uses UWB as absolute positioning, IMU and odometer trajectory calculation as relative positioning (predictive positioning), and updates the observation noise by calculating the fuzzy distance to the triangle centroid to adaptively allocate weights. At the same time, dynamically adjust the intervention and exit of predicted positioning based on system operation, and filter out interference such as UWB positioning drift and absolute positioning failure. The proposed method is based on the simulation and experiment of a wheeled inspection vehicle system using UWB and inertial navigation. The experimental result shows that the proposed method maintains better response speed and high positioning accuracy during dynamic testing in simulated interference environments. The positioning speed is improved by 98.9% compared to single UWB positioning, and the positioning accuracy is improved by about 45.84% and 27.96% compared to single UWB positioning and KF fusion positioning, respectively.</p>","PeriodicalId":55001,"journal":{"name":"IET Communications","volume":"19 1","pages":""},"PeriodicalIF":1.5000,"publicationDate":"2025-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cmu2.70037","citationCount":"0","resultStr":"{\"title\":\"Efficient Positioning Method for Underground Pipe Gallery Inspection Based on UWB Adaptive Fusion\",\"authors\":\"Haoyue Lin, Zehua Yin, Chunwu Wang, Yifan Lin, Muhammad Suhail Shaikh, Chang Wang, Xiaoqing Dong\",\"doi\":\"10.1049/cmu2.70037\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<p>To address the challenges of slow positioning speed and inaccurate localisation of underground pipeline corridors in complex environments using ultra-wideband (UWB) absolute positioning, this paper proposes a Hybrid UWB-IMU Adaptive Localisation Algorithm (HUIALA) for precise underground pipeline corridor positioning. The positioning method uses UWB as absolute positioning, IMU and odometer trajectory calculation as relative positioning (predictive positioning), and updates the observation noise by calculating the fuzzy distance to the triangle centroid to adaptively allocate weights. At the same time, dynamically adjust the intervention and exit of predicted positioning based on system operation, and filter out interference such as UWB positioning drift and absolute positioning failure. The proposed method is based on the simulation and experiment of a wheeled inspection vehicle system using UWB and inertial navigation. The experimental result shows that the proposed method maintains better response speed and high positioning accuracy during dynamic testing in simulated interference environments. The positioning speed is improved by 98.9% compared to single UWB positioning, and the positioning accuracy is improved by about 45.84% and 27.96% compared to single UWB positioning and KF fusion positioning, respectively.</p>\",\"PeriodicalId\":55001,\"journal\":{\"name\":\"IET Communications\",\"volume\":\"19 1\",\"pages\":\"\"},\"PeriodicalIF\":1.5000,\"publicationDate\":\"2025-04-14\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cmu2.70037\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IET Communications\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://onlinelibrary.wiley.com/doi/10.1049/cmu2.70037\",\"RegionNum\":4,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"ENGINEERING, ELECTRICAL & ELECTRONIC\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IET Communications","FirstCategoryId":"94","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1049/cmu2.70037","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ENGINEERING, ELECTRICAL & ELECTRONIC","Score":null,"Total":0}
Efficient Positioning Method for Underground Pipe Gallery Inspection Based on UWB Adaptive Fusion
To address the challenges of slow positioning speed and inaccurate localisation of underground pipeline corridors in complex environments using ultra-wideband (UWB) absolute positioning, this paper proposes a Hybrid UWB-IMU Adaptive Localisation Algorithm (HUIALA) for precise underground pipeline corridor positioning. The positioning method uses UWB as absolute positioning, IMU and odometer trajectory calculation as relative positioning (predictive positioning), and updates the observation noise by calculating the fuzzy distance to the triangle centroid to adaptively allocate weights. At the same time, dynamically adjust the intervention and exit of predicted positioning based on system operation, and filter out interference such as UWB positioning drift and absolute positioning failure. The proposed method is based on the simulation and experiment of a wheeled inspection vehicle system using UWB and inertial navigation. The experimental result shows that the proposed method maintains better response speed and high positioning accuracy during dynamic testing in simulated interference environments. The positioning speed is improved by 98.9% compared to single UWB positioning, and the positioning accuracy is improved by about 45.84% and 27.96% compared to single UWB positioning and KF fusion positioning, respectively.
期刊介绍:
IET Communications covers the fundamental and generic research for a better understanding of communication technologies to harness the signals for better performing communication systems using various wired and/or wireless media. This Journal is particularly interested in research papers reporting novel solutions to the dominating problems of noise, interference, timing and errors for reduction systems deficiencies such as wasting scarce resources such as spectra, energy and bandwidth.
Topics include, but are not limited to:
Coding and Communication Theory;
Modulation and Signal Design;
Wired, Wireless and Optical Communication;
Communication System
Special Issues. Current Call for Papers:
Cognitive and AI-enabled Wireless and Mobile - https://digital-library.theiet.org/files/IET_COM_CFP_CAWM.pdf
UAV-Enabled Mobile Edge Computing - https://digital-library.theiet.org/files/IET_COM_CFP_UAV.pdf