{"title":"基于 SPF 和 KF 算法的 UWB/LiDAR 融合定位系统研究","authors":"zhaoxia Zhou , yixuan Lu , jingbo Xia","doi":"10.1016/j.phycom.2024.102529","DOIUrl":null,"url":null,"abstract":"<div><div>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.</div></div>","PeriodicalId":48707,"journal":{"name":"Physical Communication","volume":"67 ","pages":"Article 102529"},"PeriodicalIF":2.0000,"publicationDate":"2024-10-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Research on the fusion positioning system of UWB/LiDAR based on the algorithm of SPF and KF\",\"authors\":\"zhaoxia Zhou , yixuan Lu , jingbo Xia\",\"doi\":\"10.1016/j.phycom.2024.102529\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><div>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.</div></div>\",\"PeriodicalId\":48707,\"journal\":{\"name\":\"Physical Communication\",\"volume\":\"67 \",\"pages\":\"Article 102529\"},\"PeriodicalIF\":2.0000,\"publicationDate\":\"2024-10-22\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Physical Communication\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S1874490724002477\",\"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":"Physical Communication","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S1874490724002477","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}
Research on the fusion positioning system of UWB/LiDAR based on the algorithm of SPF and KF
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.
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.
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