Particle filter based synthetic aperture reconstruction approach for real-time 3D wireless local positioning
Particle filter based synthetic aperture reconstruction approach for real-time 3D wireless local positioning
复制标题
基于粒子滤波器的实时 3D 无线本地定位合成孔径重建方法
DOI：
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发表时间：
2012
期刊：
影响因子：
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通讯作者：
M. Vossiek
中科院分区：
文献类型：
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作者：
Gang Li;R. Ebelt;M. Vossiek
本文将多边逆合成孔径二次雷达(MISAS)方法与粒子滤波相结合，提出了一种精确实时的三维室内定位方法。合成孔径方法是一种有效抑制多径干扰的定位技术。然而，传统的SAR重建算法计算量大，限制了其在实时应用中的实际应用。我们使用一组加权粒子来表示目标位置的概率密度函数，而不是使用基于网格的方法来计算目标位置的概率密度函数。随后，可以通过重采样算法在以下迭代中减少粒子数量。对带宽为140 MHz的5.8 GHz FMCW二次雷达的仿真和实验表明，即使在密集的多径环境中，也可以实现带有数百个粒子的机器人刀具中心点在毫米距离内的三维定位。使用我们的新方法，与基于网格的评估相比，计算量已降低到0.1%以下。因此，粒子滤波的这种新的扩展为3D MISAS定位的实时应用提供了一个有吸引力的解决方案。
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 particle filtering. The synthetic aperture approach is a promising locating technique with effective multipath suppression. However, the practical usage in real-time applications is limited by its huge computational load of conventional SAR reconstruction algorithms. Instead of evaluating the PDF (probability density function) of the target position in a grid-based approach, we utilize a set of weighted particles to represent the PDF. The particle number can then subsequently be reduced in the following iterations through a resampling algorithm. It is shown by simulation and experiments with a 5.8 GHz FMCW secondary radar with 140 MHz bandwidth, that 3D localization of a robot TCP (tool center point) in mm-range with a few hundred particles is possible even in a dense multipath environment. With our new approach the computational effort has been reduced to below 0.1% compared to a grid-based evaluation. Therefore, this novel extension of particle filtering gives an attractive solution for the real-time application of 3D MISAS localization.