• 文献检索
  • 文档翻译
  • 深度研究
  • 学术资讯
  • Suppr Zotero 插件Zotero 插件
  • 邀请有礼
  • 套餐&价格
  • 历史记录
应用&插件
Suppr Zotero 插件Zotero 插件浏览器插件Mac 客户端Windows 客户端微信小程序
定价
高级版会员购买积分包购买API积分包
服务
文献检索文档翻译深度研究API 文档MCP 服务
关于我们
关于 Suppr公司介绍联系我们用户协议隐私条款
关注我们

Suppr 超能文献

核心技术专利：CN118964589B侵权必究
粤ICP备2023148730 号-1Suppr @ 2026

文献检索

告别复杂PubMed语法，用中文像聊天一样搜索，搜遍4000万医学文献。AI智能推荐，让科研检索更轻松。

立即免费搜索

文件翻译

保留排版，准确专业，支持PDF/Word/PPT等文件格式，支持 12+语言互译。

免费翻译文档

深度研究

AI帮你快速写综述，25分钟生成高质量综述，智能提取关键信息，辅助科研写作。

立即免费体验

基于图优化的实时松散耦合 3DMA GNSS/多普勒测量集成及其在纽约城市峡谷中的性能评估。

Real-Time Loosely Coupled 3DMA GNSS/Doppler Measurements Integration Using a Graph Optimization and Its Performance Assessments in Urban Canyons of New York.

机构信息

Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hong Kong 999077, China.

Grossman School of Medicine, New York University, New York, NY 10016, USA.

出版信息

Sensors (Basel). 2022 Aug 30;22(17):6533. doi: 10.3390/s22176533.

DOI:10.3390/s22176533
PMID:36080991
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC9460112/
Abstract

Smart health applications have received significant attention in recent years. Novel applications hold significant promise to overcome many of the inconveniences faced by persons with disabilities throughout daily living. For people with blindness and low vision (BLV), environmental perception is compromised, creating myriad difficulties. Precise localization is still a gap in the field and is critical to safe navigation. Conventional GNSS positioning cannot provide satisfactory performance in urban canyons. 3D mapping-aided (3DMA) GNSS may serve as an urban GNSS solution, since the availability of 3D city models has widely increased. As a result, this study developed a real-time 3DMA GNSS-positioning system based on state-of-the-art 3DMA GNSS algorithms. Shadow matching was integrated with likelihood-based ranging 3DMA GNSS, generating positioning hypothesis candidates. To increase robustness, the 3DMA GNSS solution was then optimized with Doppler measurements using factor graph optimization (FGO) in a loosely-coupled fashion. This study also evaluated positioning performance using an advanced wearable system's recorded data in New York City. The real-time forward-processed FGO can provide a root-mean-square error (RMSE) of about 21 m. The RMSE drops to 16 m when the data is post-processed with FGO in a combined direction. Overall results show that the proposed loosely-coupled 3DMA FGO algorithm can provide a better and more robust positioning performance for the multi-sensor integration approach used by this wearable for persons with BLV.

摘要

智能健康应用近年来受到了广泛关注。新型应用具有很大的潜力，可以克服残疾人士在日常生活中面临的许多不便。对于失明和低视力人士（BLV）来说，环境感知能力受损，造成了无数的困难。精确定位仍然是该领域的一个空白，对于安全导航至关重要。传统的全球导航卫星系统（GNSS）定位无法在城市峡谷中提供令人满意的性能。基于 3D 地图辅助（3DMA）的 GNSS 可能成为城市 GNSS 解决方案，因为 3D 城市模型的可用性已经大大增加。因此，本研究开发了一种基于最先进的 3DMA GNSS 算法的实时 3DMA GNSS 定位系统。基于似然测距的 3DMA GNSS 与阴影匹配相结合，生成定位假设候选。为了提高鲁棒性，然后使用因子图优化（FGO）以松散耦合的方式优化 3DMA GNSS 解决方案，利用多普勒测量值。本研究还使用纽约市先进可穿戴系统记录的数据评估了定位性能。实时前处理 FGO 可以提供约 21 米的均方根误差（RMSE）。当数据在后处理中与 FGO 以组合方向结合时，RMSE 下降到 16 米。总体结果表明，所提出的松散耦合 3DMA FGO 算法可以为 BLV 可穿戴设备所使用的多传感器集成方法提供更好、更稳健的定位性能。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ed8b/9460112/ec6391b668be/sensors-22-06533-g011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ed8b/9460112/0edc1d8276ae/sensors-22-06533-g0A1.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ed8b/9460112/e91e53d0dc33/sensors-22-06533-g0A2.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ed8b/9460112/6afef71c7a08/sensors-22-06533-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ed8b/9460112/5f4448f74bee/sensors-22-06533-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ed8b/9460112/e7f3cc5fd940/sensors-22-06533-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ed8b/9460112/4f77a3e3f8ee/sensors-22-06533-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ed8b/9460112/6a2e2c29c9bb/sensors-22-06533-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ed8b/9460112/90b26bbdf8f5/sensors-22-06533-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ed8b/9460112/97e0d8dd916e/sensors-22-06533-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ed8b/9460112/a0d2aaa85ae3/sensors-22-06533-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ed8b/9460112/c3f2cc7284df/sensors-22-06533-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ed8b/9460112/929be89ef154/sensors-22-06533-g010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ed8b/9460112/ec6391b668be/sensors-22-06533-g011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ed8b/9460112/0edc1d8276ae/sensors-22-06533-g0A1.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ed8b/9460112/e91e53d0dc33/sensors-22-06533-g0A2.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ed8b/9460112/6afef71c7a08/sensors-22-06533-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ed8b/9460112/5f4448f74bee/sensors-22-06533-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ed8b/9460112/e7f3cc5fd940/sensors-22-06533-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ed8b/9460112/4f77a3e3f8ee/sensors-22-06533-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ed8b/9460112/6a2e2c29c9bb/sensors-22-06533-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ed8b/9460112/90b26bbdf8f5/sensors-22-06533-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ed8b/9460112/97e0d8dd916e/sensors-22-06533-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ed8b/9460112/a0d2aaa85ae3/sensors-22-06533-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ed8b/9460112/c3f2cc7284df/sensors-22-06533-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ed8b/9460112/929be89ef154/sensors-22-06533-g010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ed8b/9460112/ec6391b668be/sensors-22-06533-g011.jpg

相似文献

1
Real-Time Loosely Coupled 3DMA GNSS/Doppler Measurements Integration Using a Graph Optimization and Its Performance Assessments in Urban Canyons of New York.基于图优化的实时松散耦合 3DMA GNSS/多普勒测量集成及其在纽约城市峡谷中的性能评估。
Sensors (Basel). 2022 Aug 30;22(17):6533. doi: 10.3390/s22176533.
2
Skymask Matching Aided Positioning Using Sky-Pointing Fisheye Camera and 3D City Models in Urban Canyons.利用指向天空的鱼眼相机和城市峡谷中的三维城市模型进行天空掩码匹配辅助定位
Sensors (Basel). 2020 Aug 21;20(17):4728. doi: 10.3390/s20174728.
3
Continuous High-Precision Positioning in Smartphones by FGO-Based Fusion of GNSS-PPK and PDR.基于GNSS-PPK与PDR融合的FGO实现智能手机连续高精度定位
Micromachines (Basel). 2024 Sep 11;15(9):1141. doi: 10.3390/mi15091141.
4
GO-INO: Graph Optimization MEMS-IMU/NHC/Odometer Integration for Ground Vehicle Positioning.GO-INO：用于地面车辆定位的图形优化微机电系统惯性测量单元/航位推算系统/里程计集成
Micromachines (Basel). 2022 Aug 26;13(9):1400. doi: 10.3390/mi13091400.
5
Benefits of Multi-Constellation/Multi-Frequency GNSS in a Tightly Coupled GNSS/IMU/Odometry Integration Algorithm.多星座/多频率 GNSS 在紧耦合 GNSS/IMU/里程计组合算法中的优势。
Sensors (Basel). 2018 Sep 12;18(9):3052. doi: 10.3390/s18093052.
6
GNSS/IMU/ODO/LiDAR-SLAM Integrated Navigation System Using IMU/ODO Pre-Integration.采用惯性测量单元/里程计预积分的全球导航卫星系统/惯性测量单元/里程计/激光雷达同步定位与地图构建集成导航系统
Sensors (Basel). 2020 Aug 20;20(17):4702. doi: 10.3390/s20174702.
7
Precise Position Estimation Using Smartphone Raw GNSS Data Based on Two-Step Optimization.基于两步优化的智能手机原始 GNSS 数据的精确位置估计。
Sensors (Basel). 2023 Jan 20;23(3):1205. doi: 10.3390/s23031205.
8
Loosely Coupled GNSS and UWB with INS Integration for Indoor/Outdoor Pedestrian Navigation.松耦合 GNSS 和 UWB 与 INS 集成的室内/室外行人导航。
Sensors (Basel). 2020 Nov 5;20(21):6292. doi: 10.3390/s20216292.
9
Passive Sensor Integration for Vehicle Self-Localization in Urban Traffic Environment.用于城市交通环境中车辆自定位的被动传感器集成
Sensors (Basel). 2015 Dec 3;15(12):30199-220. doi: 10.3390/s151229795.
10
Stand-alone and hybrid positioning using asynchronous pseudolites.使用异步伪卫星的独立定位和混合定位。
Sensors (Basel). 2014 Dec 24;15(1):166-93. doi: 10.3390/s150100166.

引用本文的文献

1
Haptics-based, higher-order sensory substitution designed for object negotiation in blindness and low vision: Virtual Whiskers.基于触觉的高阶感官替代，专为盲人和低视力者的物体识别设计：虚拟触须
Disabil Rehabil Assist Technol. 2025 Feb 21:1-20. doi: 10.1080/17483107.2025.2458112.
2
A Method of Setting the LiDAR Field of View in NDT Relocation Based on ROI.基于感兴趣区域的无损检测中激光雷达视场设置方法。
Sensors (Basel). 2023 Jan 11;23(2):843. doi: 10.3390/s23020843.

本文引用的文献

1
A Low-Vision Navigation Platform for Economies in Transition Countries.转型国家经济适用的低视力导航平台。
Proc IEEE World Congr Serv. 2020 Oct;2020:1-3. doi: 10.1109/services48979.2020.00013. Epub 2020 Dec 21.
2
Communicating through Touch: Macro Fiber Composites for Tactile Stimulation on the Abdomen.通过触摸进行交流：用于腹部触觉刺激的宏观纤维复合材料
IEEE Trans Haptics. 2018 Apr-Jun;11(2):174-184. doi: 10.1109/TOH.2017.2781244.
3
Fisheye-Based Method for GPS Localization Improvement in Unknown Semi-Obstructed Areas.
基于鱼眼的未知半遮挡区域GPS定位改进方法
Sensors (Basel). 2017 Jan 17;17(1):119. doi: 10.3390/s17010119.