TU Graz, Working Group Navigation, Institute of Geodesy, 8010 Graz, Austria.
OHB Digital Solutions GmbH, 8044 Graz, Austria.
Sensors (Basel). 2022 Apr 13;22(8):2982. doi: 10.3390/s22082982.
Blue force tracking represents an essential task in the field of military applications. A blue force tracking system provides the location information of their own forces on a map to commanders. For the command post, this results in more efficient operation control with increasing safety. In underground structures (e.g., tunnels or subways), the localisation is challenging due to the lack of GNSS signals. This paper presents a localisation system for military or emergency forces tailored to usage in complex underground structures. In a particle filter, position changes from a dual foot-mounted INS are fused with opportunistic UWB ranges and data from a 3D tunnel model to derive position information. A concept to deal with the absence of UWB infrastructure or 3D tunnel models is illustrated. Recurrent neural network methodologies are applied to cope with different motion types of the operators. The evaluation of the positioning algorithm took place in a street tunnel. If a fully installed infrastructure was available, positioning errors under one metre were reached. The results also showed that the INS can bridge UWB outages. A particle-filter-based approach to UWB anchor mapping is presented, and the first simulation results showed its viability.
蓝军跟踪代表了军事应用领域的一项重要任务。蓝军跟踪系统为指挥官在地图上提供己方部队的位置信息。对于指挥所来说，这将导致操作控制更加高效，同时提高安全性。在地下结构（例如隧道或地铁）中，由于缺乏 GNSS 信号，定位具有挑战性。本文提出了一种适用于军事或应急部队的定位系统，专门针对复杂的地下结构使用。在粒子滤波器中，来自双足安装的 INS 的位置变化与机会性 UWB 范围以及来自 3D 隧道模型的数据融合，以得出位置信息。本文还说明了一种处理 UWB 基础设施或 3D 隧道模型缺失的概念。递归神经网络方法被应用于应对操作人员的不同运动类型。定位算法的评估是在街道隧道中进行的。如果有完整的基础设施可用，定位误差可以达到一米以内。结果还表明，INS 可以弥合 UWB 中断。本文提出了一种基于粒子滤波器的 UWB 锚点映射方法，并展示了其可行性。
