融合IMU惯性和UWB测距信息的移动用户协同相对定位
Cooperative Relative Positioning of Mobile Users by Fusing IMU Inertial and UWB Ranging Information
摘要：
多个移动用户之间的相对定位对于许多应用是必不可少的，例如在灾区的搜索和救援或人类社交互动。惯性测量组合（IMU）在短时间内可以测量位置的变化，但长期运行时对误差积累非常敏感。通过为移动用户配备测距单元，例如超宽带（UWB），可以通过基于三边测量的方法实现精确的相对定位。与视觉或基于激光的传感器相比，UWB不需要在视线内，并提供准确的距离估计。然而，UWB不提供任何方位信息，并且通信范围有限，因此UWB不能单独确定用户位置而没有任何模糊性。在本文中，我们提出了一种方法，结合惯性测量单元和超宽带测距测量多个移动用户之间的相对定位的基础设施的知识。我们将UWB和IMU测量到一个概率为基础的框架，它允许合作定位一组移动用户和定位故障恢复。我们已经进行了广泛的实验，以证明将惯性和UWB测距测量的好处。
英文摘要：
Relative positioning between multiple mobile users is essential for many applications, such as search and rescue in disaster areas or human social interaction. Inertial-measurement unit (IMU) is promising to determine the change of position over short periods of time, but it is very sensitive to error accumulation over long term run. By equipping the mobile users with ranging unit, e.g. ultra-wideband (UWB), it is possible to achieve accurate relative positioning by trilateration-based approaches. As compared to vision or laser-based sensors, the UWB does not need to be with in line-of-sight and provides accurate distance estimation. However, UWB does not provide any bearing information and the communication range is limited, thus UWB alone cannot determine the user location without any ambiguity. In this paper, we propose an approach to combine IMU inertial and UWB ranging measurement for relative positioning between multiple mobile users without the knowledge of the infrastructure. We incorporate the UWB and the IMU measurement into a probabilistic-based framework, which allows to cooperatively position a group of mobile users and recover from positioning failures. We have conducted extensive experiments to demonstrate the benefits of incorporating IMU inertial and UWB ranging measurements.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
