多超声波局部定位系统的同时校准与导航（SCAN）
Simultaneous Calibration and Navigation (SCAN) of Multiple Ultrasonic Local Positioning Systems
AI总结：
本文提出SCAN算法，使移动机器人在导航中同时校准多个超声波定位系统信标，利用并行滤波器融合超声波与里程计数据，比较EKF、UKF和H-Inf滤波器的性能。
摘要：
本文提出了一种同时校准与导航（SCAN）算法，用于覆盖广阔室内区域的多超声波局部定位系统（ULPSs）。其思想是发展类似于SLAM（同时定位与建图）的概念，其中移动机器人（MR）在导航的同时估计地图。MR在定位区域内移动时，校准多个ULPSs的信标。校准的概念是估计相对于已知地图的信标位置。场景由一些已校准的ULPSs组成，我们将其称为全局参考超声波局部定位系统（GRULPSs），它们位于战略点，如入口，覆盖环境中可能轨迹的起点和终点。此外，还有几个未校准的ULPSs，称为局部参考超声波局部定位系统（LRULPSs），分布在定位区域周围。该提案使用带有里程计的MR，在其覆盖区域内导航并从一GRULPS移动到另一GRULPS时，校准LRULPSs的信标。该算法基于并行运行的多个滤波器（每个LRULPS一个滤波器，GRULPSs另一个滤波器），融合超声波信号（US）和MR里程计的信息，估计MR的全局和局部轨迹（每个LRULPS的局部参考系对应一条轨迹）。LRULPSs信标的位置通过每个LRULPS的变换向量获得，该向量将局部坐标转换为全局参考系。扩展卡尔曼滤波器（EKF）、无迹卡尔曼滤波器（UKF）和H-Inf滤波器已在仿真和真实实验中测试，以比较它们在此情况下的性能。
英文摘要：
This paper proposes a Simultaneous Calibration and Navigation (SCAN) algorithm of a multiple Ultrasonic Local Positioning Systems (ULPSs) that cover an extensive indoor area. The idea is the development of the same concept than SLAM (Simultaneous Localization and Mapping), in which a Mobile Robot (MR) estimates the map while it is navigating. The MR calibrates the beacons of several ULPSs while it is moving inside the localization area. The concept of calibration is the estimation of the position of the beacons referenced to a known map. The scenario is composed of some calibrated ULPSs that we denote as Globally Referenced Ultrasonic Local Positioning Systems (GRULPSs) that are located in strategic points like entrances covering the start and the end of a possible trajectory in the environment. Additionally, there are several non-calibrated ULPSs named Locally Referenced Ultrasonic Local Positioning Systems (LRULPSs) that are placed around the localization area. The proposal uses a MR with odometer for calibrating the beacons of the LRULPSs while it is navigating on their coverage area and go from one GRULPS to another. The algorithm is based on multiple filters running in parallel (one filter for each LRULPS and another one for the GRULPSs) that estimate the global and local trajectories of the MR (one trajectory for each local reference system of the LRULPSs) fusing the information related to the Ultrasound Signals (US) and the odometer of the MR. The position of the beacons of the LRULPSs are obtained by a transformation vector for each LRULPS that converts the local coordinates to the global reference system. Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF) and H-Inf Filter have been tested, in simulations and real experiments, in order to compare their performance in this case.
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。
