A Novel Sequential Monte Carlo Method Based Synthetic Aperture Reconstruction Approach for Real-Time 3D Wireless Local Positioning
A Novel Sequential Monte Carlo Method Based Synthetic Aperture Reconstruction Approach for Real-Time 3D Wireless Local Positioning
复制标题
DOI：
10.1515/freq-2012-0102
复制
发表时间：
2012-01
期刊：
影响因子：
--
通讯作者：
Gang Li;R. Ebelt;M. Vossiek
中科院分区：
文献类型：
--
作者：
Gang Li;R. Ebelt;M. Vossiek
摘要在本文中，我们介绍了一个精确的实时三维室内定位的概念，使用MISAS（多边逆合成孔径二次雷达）的方法和SMCM（顺序蒙特卡罗方法）的组合。合成孔径定位技术是一种很有前途的定位技术，具有很好的多径抑制能力。然而，它的实际应用受到了巨大的计算量的重建算法。我们使用一个加权粒子集-我们减少随后的rescue-来表示PDF（概率密度函数），而不是高度复杂的，标准的，基于网格的方法。仿真运行和实验，进行了5.8 GHz的FMCW二次雷达系统的带宽只有140 MHz，表明机器人TCP（工具中心点）可以定位在3D的毫米范围内使用几百个粒子和密集的多路径环境中操作。这种新的扩展是一个很有前途的解决方案，实时，三维MISAS定位应用。
Abstract In this paper, we introduce a precise real-time 3D indoor localization concept using a combination of the MISAS (multilateral inverse synthetic aperture secondary radar) approach and SMCM (sequential Monte Carlo method). The synthetic aperture approach is a promising locating technique with effective multipath suppression. However, its practical use is restricted by the huge computational load of the reconstruction algorithms. We use a weighted-particle set – which we reduce subsequently by resampling – to represent the PDF (probability density function) instead of the highly complex, standard, grid-based approach. Simulation runs and experiments, carried out with a 5.8 GHz FMCW secondary radar system with a bandwidth of only 140 MHz, show that a robot TCP (tool center point) can be localized in 3D in the mm-range using a few hundred particles and operating in a dense multipath environment. This novel extension is a promising solution for real-time, 3D MISAS localization applications.