Doppler pose estimation using multiple IMES transmitters for indoor localization
Doppler pose estimation using multiple IMES transmitters for indoor localization
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使用多个 IMES 发射机进行室内定位的多普勒姿态估计
DOI：
10.1080/17489725.2013.858834
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发表时间：
2013
影响因子：
2.3
通讯作者：
and Shigeki Sugano
中科院分区：
文献类型：
--
作者：
Yoshihiro Sakamoto;Takuji Ebinuma;Kenjiro Fujii;and Shigeki Sugano
提出了一种室内信息系统(IMES)的多普勒位姿估计方法(姿态指的是位置和方位)。该方法利用带有两个或多个IMES发射机的接收器天线移动产生的多普勒频移，同时估计接收器的位置和方向。通过在两个不同地点进行的相同实验对所提出的方法进行了评估。在这些实验中，使用两个发射机来估计接收器的位置和方向，并通过改变发射机天线之间的间隔距离来评估可实现的精度。实验结果表明，在测量条件较好的情况下(即设置适当的发射天线间距且不发生周跳)，定位精度可达几分米以上，方位估计精度可达几度以上。我们还对初值(用于非线性最小二乘法的迭代位置和方向计算)的收敛进行了分析。结果表明，只要在位姿估计过程中求逆矩阵，初值基本收敛到合适的位姿。此外，我们还分析了发射机数目对位置和方位估计精度的影响。结果表明，随着发射机数目的增加，位置和方位估计的精度也随之提高，尤其是在发射机周围区域的精度更高。
We propose a Doppler pose estimation method for an indoor messaging system (IMES) (‘pose’ refers to both position and orientation). With this method, both the position and orientation of a receiver are estimated simultaneously by using Doppler shifts produced by moving a receiver antenna with two or more IMES transmitters. The proposed method is evaluated through the identical experiments conducted in two different locations. In these experiments, the position and orientation of the receiver is estimated using two transmitters, and the achievable accuracy is evaluated by changing the separation distance between the transmitter antennas. The experimental results demonstrate that a positioning accuracy higher than a few decimetres and orientation estimation accuracy of higher than a few degrees are achievable when the measurement condition is relatively good (i.e. when the proper separation distance is set between two transmitter antennas and cycle slips do not occur). We also conducted an analysis for the convergence of initial values (which are used for the iterative position and orientation calculation in the nonlinear least-squares method). The results show that the initial values basically converge to appropriate position and orientation values as long as an inverse matrix in the position and orientation estimation process can be calculated. Moreover, we analysed the effect of the number of transmitters on position and orientation estimation precision. The results show that, as the number of transmitters increases, the precision of the position and orientation estimation also increases, and the precision is particularly high in the area surrounded by the transmitters.