Wireless 3D Localization Concept for Industrial Automation Based on a Bearings Only Extended Kalman Filter
Wireless 3D Localization Concept for Industrial Automation Based on a Bearings Only Extended Kalman Filter
复制标题
基于仅轴承扩展卡尔曼滤波器的工业自动化无线 3D 定位概念
DOI：
--
复制
发表时间：
2018
期刊：
影响因子：
--
通讯作者：
P. Gulden
中科院分区：
文献类型：
--
作者：
Melanie Lipka;Erik Sippel;M. Hehn;J. Adametz;M. Vossiek;Yassen Dobrev;P. Gulden
现代工厂和第四次工业革命需要解决方案来监控工作区域和支持组装过程。这方面的关键任务之一是自主机器人和车辆以及手动工具的本地化和跟踪。灵活的无线解决方案的潜在候选者是微波定位系统，如本文使用的24 GHz调频连续波雷达。为了减少所采用的二次雷达系统的同步工作量，只评估到达角测量来估计三维位置和速度。因此，本文提出了一种新的扩展卡尔曼滤波方法，仅根据方位测量确定应答器的位置，并减少测量野值的影响。为了验证，提供了一个近距离室内定位场景的实验结果，并以机械臂的高精度基准进行了评估。
Modern factories and the fourth industrial revolution demand for solutions to monitor the working area and to support the assembly process. One of the key tasks in this context is the localization and tracking of autonomous robots and vehicles as well as hand driven tools. Promising candidates for flexible, wireless solutions are microwave localization systems, like the 24 GHz frequency modulated continuous wave radar used in this paper. In order to reduce the synchronization effort for the employed secondary radar system, only angle-of-arrival measurements are evaluated for the estimation of 3D position and velocity. Therefore, a novel Extended Kalman Filter is presented in this paper to determine the transponder location solely from bearing measurements and to reduce the influence of measurement outliers. For verification, experimental results from a close-range indoor localization scenario are provided and evaluated with the high-precision reference by a robotic arm.