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利用编码超声波信号、惯性传感器和图形匹配进行移动设备的室内定位。

LOCATE-US: Indoor Positioning for Mobile Devices Using Encoded Ultrasonic Signals, Inertial Sensors and Graph-Matching.

机构信息

Department of Electronics, University of Alcalá, Alcalá de Henares, 28801 Madrid, Spain.

Signal Theory and Communications Department, King Juan Carlos University, Móstoles, 28933 Madrid, Spain.

出版信息

Sensors (Basel). 2021 Mar 10;21(6):1950. doi: 10.3390/s21061950.

DOI:10.3390/s21061950
PMID:33802216
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC8001629/
Abstract

Indoor positioning remains a challenge and, despite much research and development carried out in the last decade, there is still no standard as with the Global Navigation Satellite Systems (GNSS) outdoors. This paper presents an indoor positioning system called LOCATE-US with adjustable granularity for use with commercial mobile devices, such as smartphones or tablets. LOCATE-US is privacy-oriented and allows every device to compute its own position by fusing ultrasonic, inertial sensor measurements and map information. Ultrasonic Local Positioning Systems (U-LPS) based on encoded signals are placed in critical zones that require an accuracy below a few decimeters to correct the accumulated drift errors of the inertial measurements. These systems are well suited to work at room level as walls confine acoustic waves inside. To avoid audible artifacts, the U-LPS emission is set at 41.67 kHz, and an ultrasonic acquisition module with reduced dimensions is attached to the mobile device through the USB port to capture signals. Processing in the mobile device involves an improved Time Differences of Arrival (TDOA) estimation that is fused with the measurements from an external inertial sensor to obtain real-time location and trajectory display at a 10 Hz rate. Graph-matching has also been included, considering available prior knowledge about the navigation scenario. This kind of device is an adequate platform for Location-Based Services (LBS), enabling applications such as augmented reality, guiding applications, or people monitoring and assistance. The system architecture can easily incorporate new sensors in the future, such as UWB, RFiD or others.

摘要

室内定位仍然是一个挑战，尽管在过去十年中进行了大量的研究和开发，但与室外的全球导航卫星系统 (GNSS) 相比，仍然没有标准。本文提出了一种名为 LOCATE-US 的室内定位系统，具有可调节的粒度，可与商用移动设备（如智能手机或平板电脑）一起使用。LOCATE-US 是面向隐私的，允许每个设备通过融合超声、惯性传感器测量值和地图信息来计算自己的位置。基于编码信号的超声定位系统 (U-LPS) 放置在需要精度低于几厘米的关键区域，以纠正惯性测量的累积漂移误差。这些系统非常适合在室内工作，因为墙壁将声波限制在室内。为了避免可听见的伪影，U-LPS 发射设置为 41.67 kHz，并通过 USB 端口将尺寸减小的超声采集模块附加到移动设备上以捕获信号。移动设备中的处理涉及改进的到达时间差 (TDOA) 估计，该估计与外部惯性传感器的测量值融合，以实时显示位置和轨迹，速率为 10 Hz。还考虑了图形匹配，考虑了有关导航场景的可用先验知识。这种设备是基于位置的服务 (LBS) 的合适平台，能够实现增强现实、引导应用程序或人员监控和辅助等应用程序。系统架构将来可以轻松地整合新的传感器，例如 UWB、RFiD 或其他传感器。

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