基于相关里程计下认证自校准的无锚点隐藏目标搜索
Anchor-Free Hidden-Target Seeking via Certified Self-Calibration under Correlated Odometry
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- Michigan State University（密歇根州立大学）
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中文总结 AI 辅助
本研究提出一种无锚点隐藏目标搜索方法，通过多视角自校准与认证不确定性估计，在无全局定位下实现高精度搜索，有效抵抗里程计漂移。
中文摘要 AI 辅助
我们研究了无锚点条件下的隐藏目标搜索问题，其中车辆、中继器或目标均无法获取全局位姿。车辆从不直接感知目标，仅通过一个位置和方向未知的中继器接收距离-方位观测，其运动仅通过集成的机体坐标系里程计获知。绝对定位在根本上是不可行的：联合构型保留了一个精确的三维SE(2)规范，任何估计器都无法解决。然而，控制所需的数量仍然是完全可恢复的：运动将校准坍缩为任务相关的商，即中继器到里程计的偏航角与目标位移，可从两个不同的车辆视角以闭式形式识别。我们引入了一种O(K)多视角自校准估计器，并带有精确的一阶偏航不确定性证书，该证书传播了集成里程计引起的跨视角相关性：完整证书在标称95%水平下达到95.0%的合并覆盖率，而将相关位姿视为独立时仅为82.1%。该证书驱动一种混合策略，该策略在校准可信之前进行激励，拒绝未经认证的估计，使用连续重新测量的几何信息进行搜索，并通过持续的认证不一致性检测中继器框架的变化，从而避免无界的航位推算漂移。在200次随机闭环试验中，该方法实现了0.064米的中位站点误差，而具有真实中继器偏航角的神谕为0.065米，尽管在长视野上存在27米的中位航位推算漂移；90次基于物理的ROS 2/Gazebo试验在标称操作、通信降级和中继器框架扰动下均保持30/30的成功率。这些结果表明，在这种单中继器模型下，即使感知基础设施和车辆自身参考系均未校准，全局定位对于可靠的隐藏目标搜索也是不必要的。
英文摘要
We study hidden-target seeking in an anchor-free regime where neither the vehicle, the relay, nor the target has an accessible global pose. The vehicle never senses the target directly; it receives only range-bearing observations through a single relay of unknown position and orientation, with motion known only via integrated body-frame odometry. Absolute localization is fundamentally impossible: the joint configuration retains an exact three-dimensional SE(2) gauge no estimator can resolve. Yet the quantities needed for control remain fully recoverable: motion collapses calibration to a task-relevant quotient, the relay-to-odometry yaw and target displacement, identifiable in closed form from two distinct vehicle views. We introduce an O(K) multi-view self-calibration estimator with an exact first-order yaw-uncertainty certificate that propagates the cross-view correlations integrated odometry induces: the full certificate attains 95.0% pooled coverage at the nominal 95% level, versus 82.1% when correlated poses are treated as independent. The certificate drives a hybrid policy that excites until calibration is trustworthy, refuses uncertified estimates, seeks using continuously re-measured geometry, and detects relay-frame changes via persistent certified inconsistency, avoiding unbounded dead-reckoning drift. Across 200 randomized closed-loop trials, the method attains 0.064 m median station error versus 0.065 m for an oracle given the true relay yaw, despite 27 m median dead-reckoning drift over long horizons; 90 physics-based ROS 2/Gazebo trials retain 30/30 success under nominal operation, communication degradation, and relay-frame disturbances. These results show global localization is unnecessary for reliable hidden-target seeking under this single-relay model, even when both the sensing infrastructure and the vehicle's own reference frame are uncalibrated.
