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超宽带 (UWB) 和推算定位系统的准确性如何？与使用 RPLidar 系统的 SLAM 进行比较。

How Accurate Can UWB and Dead Reckoning Positioning Systems Be? Comparison to SLAM Using the RPLidar System.

机构信息

Department of Electronics, Electrical Engineering and Microelectronics, Silesian University of Technology, Akademicka 16, 44-100 Gliwice, Poland.

Department of Distributed Systems and Informatic Devices, Silesian University of Technology, Akademicka 16, 44-100 Gliwice, Poland.

出版信息

Sensors (Basel). 2020 Jul 5;20(13):3761. doi: 10.3390/s20133761.

DOI:10.3390/s20133761
PMID:32635591
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC7374407/
Abstract

This paper compares two positioning systems, namely ultra-wideband (UWB) based micro-location technology and dead reckoning and a RPLidar based simultaneous localization and mapping (SLAM) solution. This new approach can be used to improve the quality of the positioning system and increase the functionality of advanced driver assistance systems (ADAS). This is achieved by using stationary nodes and UWB tags on the vehicles. Thus, the redundancy of localization can be achieved by this approach, e.g., as a backup to onboard sensors like RPlidar or radar. Additionally, UWB based micro-location allows additional data channels to be used for communication purposes. Furthermore, it is shown that the regular use of correction data increases UWB and dead reckoning accuracy. These correction data can be based on onboard sensors. This shows that it is promising to develop a system that fuses onboard sensors and micro-localization for safety-critical tasks like the platooning of commercial vehicles.

摘要

本文比较了两种定位系统，即超宽带（UWB）的微定位技术和推算法以及基于 RPLidar 的同时定位与建图（SLAM）解决方案。这种新方法可用于提高定位系统的质量并增强高级驾驶辅助系统（ADAS）的功能。这是通过在车辆上使用固定节点和 UWB 标签来实现的。因此，这种方法可以实现定位的冗余，例如，作为 RPlidar 或雷达等车载传感器的备份。此外，基于 UWB 的微定位允许使用额外的数据通道用于通信目的。此外，还表明定期使用校正数据可以提高 UWB 和推算法的精度。这些校正数据可以基于车载传感器。这表明，为安全关键任务（如商用车辆的编队行驶）开发融合车载传感器和微定位的系统是有前途的。

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