基于超宽带自适应融合的地下管廊检测高效定位方法

IF 1.5 4区 计算机科学 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC
Haoyue Lin, Zehua Yin, Chunwu Wang, Yifan Lin, Muhammad Suhail Shaikh, Chang Wang, Xiaoqing Dong
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引用次数: 0

摘要

针对复杂环境下超宽带(UWB)绝对定位对地下管道走廊定位速度慢、定位不准确的问题,提出了一种超宽带-超宽带混合自适应定位算法(HUIALA),用于地下管道走廊的精确定位。该定位方法以超宽带作为绝对定位,IMU和里程表轨迹计算作为相对定位(预测定位),通过计算到三角质心的模糊距离来更新观测噪声,自适应分配权重。同时,根据系统运行情况动态调整预测定位的介入和退出,滤除超宽带定位漂移、绝对定位故障等干扰。该方法是基于基于超宽带和惯性导航的轮式巡检车系统的仿真和实验。实验结果表明,该方法在模拟干扰环境下的动态测试中保持了较好的响应速度和较高的定位精度。定位速度比单UWB定位提高了98.9%,定位精度比单UWB定位和KF融合定位分别提高了45.84%和27.96%。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

Efficient Positioning Method for Underground Pipe Gallery Inspection Based on UWB Adaptive Fusion

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.

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来源期刊
IET Communications
IET Communications 工程技术-工程:电子与电气
CiteScore
4.30
自引率
6.20%
发文量
220
审稿时长
5.9 months
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
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