光纤拓扑辅助的UWB退化下固定滞后因子图室内定位

中文摘要 AI 辅助

超宽带（UWB）为室内定位提供绝对空间约束，但当多条无线电链路被遮挡或不可用时，这些约束变得不足。相比之下，校准的传感光纤提供固定的空间拓扑，可通过分布式声学传感（DAS）事件独立于无线电传播激活。基于这种互补性，我们提出了FTALoc-FGO，一种在UWB退化下用于光纤辅助定位的拓扑感知固定滞后因子图框架。沿光纤的DAS事件通过校准拓扑映射为各向异性空间观测，其中单层光纤提供方向性约束，两层正交光纤提供互补的二维信息。Fisher信息分析表征了这种依赖拓扑的信息，并激励了固定滞后图中使用的方向性和联合光纤因子。实验结合实测DAS事件与受控退化下的模拟UWB测距，在30对配对实现上评估该方法。在完全UWB丢失下，相对于仅使用鲁棒UWB的FGO，FTALoc-FGO在单层和双层路由上分别将因果中断均方根误差（RMSE）降低了32.6%和66.4%。这些结果表明，当基于无线电的观测不足时，校准的光纤拓扑可以提供互补的空间支持。

英文摘要

Ultra-wideband (UWB) provides absolute spatial constraints for indoor positioning, but these constraints become insufficient when multiple radio links are blocked or unavailable. A calibrated sensing fiber, in contrast, provides a fixed spatial topology that can be activated by distributed acoustic sensing (DAS) events independently of radio propagation. Motivated by this complementarity, we present FTALoc-FGO, a topology-aware fixed-lag factor-graph framework for fiber-assisted localization under UWB degradation. Along-fiber DAS events are mapped through the calibrated topology into anisotropic spatial observations, where a single fiber layer provides a directional constraint and two orthogonal layers provide complementary two-dimensional information. Fisher-information analysis characterizes this topology-dependent information and motivates the directional and joint fiber factors used in the fixed-lag graph. Experiments combining measured DAS events with simulated UWB ranges under controlled degradation evaluate the method over 30 paired realizations. Under complete UWB loss, FTALoc-FGO reduces the causal outage RMSE by 32.6\% and 66.4\% for single- and dual-layer routes, respectively, relative to robust UWB-only FGO. These results demonstrate that calibrated fiber topology can provide complementary spatial support when radio-based observations become insufficient.

发表机构

• School of Electronic and Information Engineering, Soochow University（苏州大学电子与信息工程学院）

机构由 AI 辅助整理，请以论文原文为准。

补充信息

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13 pages, 6 figures