Indoor self-localization using multipath arrival time measured by a single acoustic ranging sensor
Indoor self-localization using multipath arrival time measured by a single acoustic ranging sensor
复制标题
使用单个声学测距传感器测量的多路径到达时间进行室内自定位
DOI：
10.35848/1347-4065/ac506c
复制
发表时间：
2022
影响因子：
1.5
通讯作者：
K. Mizutani
中科院分区：
文献类型：
--
作者：
A. Tsuchiya;N. Wakatsuki;T. Ebihara;K. Zempo;K. Mizutani
本研究的目的是在多径环境下，利用单一的声学测距传感器实现车辆的自定位。为此，我们提出了一种利用声学测距传感器测量多个飞行时间(TOF)的方法和一种利用TOFS进行自定位的方法。该方法基于墙体位置和预测的自定位来预测TOFS，并通过与实际TOFS的比较来校正自定位。室内辐射的声波被每面墙、天花板和地板多次反射。因此，观测到的信号包含多个反射波。由于传统的方法只考虑单一反射，因此在多反射环境中自定位变得具有挑战性。结果表明，利用声波在三维空间中的多次反射并对其进行建模，可以提高估计精度。实验证明，该方法的平均定位误差为0.084 m。
The objective of this study is to achieve vehicle self-localization using a single acoustic ranging sensor in a multipath environment. For this purpose, we proposed a measurement method of multiple time-of-flight (ToF) using an acoustic ranging sensor and a self-localization method using the ToFs. The proposed method predicts the ToFs based on the wall position and the predicted self-location and corrects the self-location by comparing it with the actual ToFs. Sound waves radiated indoors are reflected multiple times by every wall, ceiling, and floor. Therefore, the observed signal contains multiple reflected waves. Since the conventional method only considers a single reflection, self-localization becomes challenging in a multiple reflection environment. We showed that the estimation accuracy can be improved by utilizing the multiple reflections of sound waves in three-dimensional space and modeling them. The experiments confirm that the average location error of the proposed method is 0.084 m.