GPS拒绝环境中的地标定位
Landmark Placement for Localization in a GPS-denied Environment
摘要：
在许多监视应用中，用于无人驾驶航空器或地面车辆的路径规划算法依赖于全球定位系统（GPS）信息来进行定位。然而，GPS信号的中断，无论是有意还是无意，都可能使这些计划和算法无效。本文提供了一种解决这个问题的方法，利用固定的地标，以帮助定位在这样的GPS中断或GPS拒绝的环境。特别是，给定车辆的路径，我们制定了一个地标放置问题，并提出了算法来放置最少数量的地标，同时满足定位，传感和防撞约束。这种布局的性能也通过地面机器人上的广泛模拟进行评估。
英文摘要：
Path planning algorithms for unmanned aerial or ground vehicles, in many surveillance applications, rely on Global Positioning System (GPS) information for localization. However, disruption of GPS signals, by intention or otherwise, can render these plans and algorithms ineffective. This article provides a way of addressing this issue by utilizing stationary landmarks to aid localization in such GPS-disrupted or GPS-denied environment. In particular, given the vehicle's path, we formulate a landmark-placement problem and present algorithms to place the minimum number of landmarks while satisfying the localization, sensing, and collision-avoidance constraints. The performance of such a placement is also evaluated via extensive simulations on ground robots.
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。
