发表机构
Research Center for Industries of the Future, Westlake University（西湖大学未来产业研究中心）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
研究利用无源传感器对移动能量发射器做运动估计，针对现有纯方位方法需传感器横向运动的局限，提出新方位强度方法，利用接收信号强度增强估计，无需横向运动条件，经实验验证且无额外成本。
AI 中文摘要
本文研究利用无源传感器对移动能量发射器进行运动估计。发射器可以是光、声或无线电源。虽然从传感器到发射器的方位向量可轻易获取，但现有方法主要依赖纯方位运动估计方法，该方法存在基本局限，即传感器必须有横向运动以确保可观测性，而这一要求常与许多任务中传感器期望的运动冲突。本文指出，可通过多种方式轻易获取的接收信号强度能极大增强运动估计，且这一强度信息此前未被充分探索。我们提出一种新的方位强度方法以充分利用方位和强度测量。理论分析表明，该方法不再需要横向运动条件，显著增强了系统可观测性。实际实验结果验证了该方法及理论分析。值得注意的是，该方法无需额外成本，只是利用了过去未被充分利用的接收强度信息。
英文摘要
This paper studies motion estimation of moving energy emitters using passive sensors. The emitters may be light, acoustic, or radio sources. While the bearing vector pointing from the sensor to the emitter can be easily obtained, existing approaches mainly rely on the bearing-only motion estimation method. However, this method suffers from a fundamental limitation that the sensor must have lateral motion to ensure observability. Unfortunately, this lateral motion requirement often conflicts with the sensor's desired motion in many tasks. In this paper, we point out that the received signal strength, which can also be obtained easily in many ways, can greatly enhance motion estimation. Surprisingly, this strength information has not been well explored so far. Here, we propose a new bearing-strength method to fully exploit both the bearing and strength measurements. Our theoretical analysis shows that the system observability is significantly enhanced in the sense that the lateral motion condition is not required anymore. Real-world experimental results verify the proposed method and the theoretical analysis. It is notable that the benefit of the proposed method comes with no additional cost since it simply utilizes the received strength information that has not been fully exploited in the past.
