A multilateral synthetic aperture wireless positioning approach to precise 3D localization of a robot tool center point
A multilateral synthetic aperture wireless positioning approach to precise 3D localization of a robot tool center point
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一种用于机器人工具中心点精确 3D 定位的多边合成孔径无线定位方法
DOI：
10.1109/wisnet.2011.5725017
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发表时间：
2011
期刊：
影响因子：
--
通讯作者：
M. Vossiek
中科院分区：
文献类型：
--
作者：
Gang Li;M. Vossiek
本文介绍了一种新的多边合成孔径二次雷达概念及其在机器人工具中心点（TCP）精确三维定位中的应用。后向散射应答器附接到机器人的TCP。空间分布的FMCW二次雷达单元拾取后向散射的相位相干应答器信号。在辅助相关传感器的基础上，利用TCP生成合成孔径。开发的多边逆合成孔径重建算法，然后确定的概率密度函数（PDF）的空间转发器的位置。通过使用带宽为140 MHz的5.8 GHz系统的仿真和实验结果表明，即使在密集多径环境中使用窄带雷达系统，也可以通过新型无线本地定位概念实现mm范围内的3D定位精度。因此，这种量级的精度只有利用十倍宽的带宽的超宽带（UWB）系统才能达到。结果表明，多边合成孔径定位系统具有在精确的3D无线本地定位的量子飞跃的潜力。
In this paper, a novel multilateral synthetic aperture secondary radar concept and its application for precise 3D localization of a robot tool center point (TCP) are introduced. A backscatter transponder is attached to the TCP of a robot. Spatially distributed FMCW secondary radar units pick up the backscattered phase coherent transponder signals. Based on assisting relative sensors, a synthetic aperture is created with the TCP. The developed multilateral inverse synthetic aperture reconstruction algorithm then determines a probability density function (PDF) of the spatial transponder position. By simulations and experimental results using a 5.8 GHz system with 140 MHz bandwidth it is shown, that 3D localization precision in the mm range can be achieved with the novel wireless local positioning concept even with narrowband radar systems in dense multipath environments. Heretofore, accuracies of this magnitude were only attainable with ultrawideband (UWB) systems utilizing a ten times wider bandwidth. It is shown, that the multilateral synthetic aperture locating system has the potential for a quantum leap in precise 3D wireless local positioning.