徐爱功,孟祥鹤,高嵩,陈志键

• 1:辽宁工程技术大学测绘与地理科学学院

摘要(Abstract)：

针对室内定位中，超宽带(UWB)定位精度易受非视距(NLOS)误差影响，以及LiDAR定位误差随运行距离累积的问题，该文提出了UWB/LiDAR紧组合室内定位算法。通过激光雷达推算出组合系统与UWB基准站的距离，识别并剔除往返时间(RTT)测距值中的NLOS误差。利用剔除了NLOS误差的RTT测距值以及LiDAR量测的与重观测地标之间的距离和方位角作为扩展卡尔曼滤波(EKF)量测信息定位，最后构建UWB/LiDAR联合优化函数并通过图优化实现全局的位姿优化。实验结果表明，该组合定位系统能有效消除LiDAR的误差累积和UWB的NLOS误差的影响，相对于单一传感器和UWB/LiDAR松组合，能有效提高大范围复杂室内环境下的定位精度，提高组合定位系统的鲁棒性。

关键词(KeyWords)： 超宽带;激光雷达;地标;扩展卡尔曼滤波;紧组合;室内定位

Abstract:

Keywords:

基金项目(Foundation): 辽宁省重点研发计划项目(2020JH2/10100044);; 国家自然科学基金项目(42074012);; 辽宁省自然科学基金计划指导计划项目(2019-ZD-0051);; 辽宁省教育厅基础研究项目(LJ2020JCL016)

作者(Author): 徐爱功,孟祥鹤,高嵩,陈志键

DOI: 10.16251/j.cnki.1009-2307.2022.04.001

参考文献(References)：

• [1]WANG D,LI Z H,CHEN Y.Design and implementation of a location based service business management platform[C]∥2017 4th International Conference on Systems and Informatics(ICSAI).[S.l.]:IEEE,2017:1631-1635．
• [2]CHEN Y M,ZHAO S,FARRELL J A.Computationally efficient carrier integer ambiguity resolution in multiepoch GPS/INS:a common-position-shift approach[J].IEEETransactions on Control Systems Technology,2016,24(5):1541-1556．
• [3]裴凌，刘东辉，钱久超．室内定位技术与应用综述[J]．导航定位与授时，2017,4(3):1-10.(PEI Ling,LIUDonghui,QIAN Jiuchao.A survey of indoor positioning technology and application[J].Navigation Positioning and Timing,2017,4(3):1-10．）
• [4]ALARIFI A,AL-SALMAN A,ALSALEH M,et al.Ultra wideband indoor positioning technologies:analysis and recent advances[J].Sensors(Basel,Switzerland),2016,16(5):707．
• [5]YASSIN A,NASSER Y,AWAD M,et al.Recent advances in indoor localization:a survey on theoretical approaches and applications[J].IEEE Communications Surveys&Tutorials,2017,19(2):1327-1346．
• [6]DE ANGELIS G,MOSCHITTA A,CARBONE P.Positioning techniques in indoor environments based on stochastic modeling of UWB round-trip-time measurements[J].IEEE Transactions on Intelligent Transportation Systems,2016,17(8):2272-2281．
• [7]张恒．基于UWB的室内高精度定位方法研究与应用[D]．阜新：辽宁工程技术大学，2015.(ZHANG Heng.Research and application of high precision positioning method in indoor based on UWB[D].Fuxin:Liaoning Technical University,2015．）
• [8]韩明瑞．基于激光LiDAR的室外移动机器人三维定位与建图[D]．南京：东南大学，2016.(HAN Mingrui.3Dlocalization and mapping of outdoor mobile robots using a LiDAR[D].Nanjing:Southeast University,2016．）
• [9]章大勇．激光雷达/惯性组合导航系统的一致性与最优估计问题研究[D]．长沙：国防科学技术大学，2010.(ZHANG Dayong.Research on system consistency and optimal states estimation of LiDAR/INS integrated navigation system[D].Changsha:National University of Defense Technology,2010．）
• [10]余彤．LiDAR/INS组合的室内定位与制图（SLAM）算法改进[D]．武汉：武汉大学，2017.(YU Tong.Algorithm improvement of indoor simultaneous location and mapping(SLAM)based on LiDAR/INS integration[D].Wuhan:Wuhan University,2017．）
• [11]钱闯．弱GNSS信号区域的GNSS/INS/LiDAR高精度定位方法及其应用研究[D]．武汉：武汉大学，2018.(QIAN Chuang.Research on GNSS/INS/LiDAR high precision positioning method in weak GNSS signal region and its application[D].Wuhan:Wuhan University,2018．）
• [12]GULATI D,ZHANG F H,CLARKE D,et al.Graphbased cooperative localization using symmetric measurement equations[J].Sensors(Basel,Switzerland),2017,17(6):1422．
• [13]ZHANG J,SINGH S.Low-drift and real-time LiDARodometry and mapping[J].Autonomous Robots,2017,41(2):401-416．
• [14]SHAN T X,ENGLOT B.LeGO-LOAM:Lightweight and ground-optimized LiDAR odometry and mapping on variable terrain[C]∥2018IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS).[S.l.]:IEEE,2018:4758-4765．
• [15]SHAN T X,ENGLOT B,MEYERS D,et al.LIO-SAM:Tightly-coupled LiDAR inertial odometry via smoothing and mapping[C]∥2020 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS).[S.l.]:IEEE,2021:5135-5142．
• [16]李帅鑫，李广云，王力，等．LiDAR/IMU紧耦合的实时定位方法[J]．自动化学报，2021,47(6):1377-1389.(LI Shuaixin,LI Guangyun,WANG Li,et al.LiDAR/IMU tightly coupled real-time localization method[J].Acta Automatica Sinica,2021,47(6):1377-1389．）
• [17]陈文浩．基于LiDAR与IMU融合的SLAM算法研究及其在校园巡检机器人上的应用[D]．武汉：华中师范大学，2020.(CHEN Wenhao.Research on SLAMalgorithm and its application in campus inspection robot based on the fusion of LiDAR and IMU[D].Wuhan:Central China Normal University,2020．）
• [18]DANG X W,RONG Z,LIANG X D.Sensor fusionbased approach to eliminating moving objects for SLAM in dynamic environments[J].Sensors(Basel,Switzerland),2021,21(1):230．
• [19]陈志键，徐爱功，隋心，等．室内UWB/LiDAR组合定位算法[J]．导航定位学报，2019,7(1):38-42.(CHENZhijian,XU Aigong,SUI Xin,et al.Algorithm of indoor UWB/LiDAR combined positioning[J].Journal of Navigation and Positioning,2019,7(1):38-42．）
• [20]李中道，刘元盛，常飞翔，等．室内环境下UWB与LiDAR融合定位算法研究[J]．计算机工程与应用，2021,57(6):260-266.(LI Zhongdao,LIU Yuansheng,CHANG Feixiang,et al.Research on UWB and LiDARfusion positioning algorithm in indoor environment[J].Computer Engineering and Applications,2021,57(6):260-266．）
• [21]DE ANGELIS A,NILSSON J,SKOG I,et al.Indoor positioning by ultrawide band radio aided inertial navigation[J].Metrology and Measurement Systems,2010,17(3):447-460．
• [22]徐爱功，刘韬，隋心，等．UWB/INS紧组合的室内定位定姿方法[J]．导航定位学报，2017,5(2):14-19.(XUAigong,LIU Tao,SUI Xin,et al.Indoor positioning and attitude determination method based on UWB/INStightly coupled[J].Journal of Navigation and Positioning,2017,5(2):14-19．）
• [23]杨军建，吴良才．基于RANSAC算法的稳健点云平面拟合方法[J]．北京测绘，2016(2):73-75.(YANGJunjian,WU Liangcai.Robust plane fitting of point clouds based on RANSAC[J].Beijing Surveying and Mapping,2016(2):73-75．）
• [24]袁清珂，张振亚，毕庆．改进RANSAC算法在直线拟合中的应用[J]．组合机床与自动化加工技术，2015(1):123-125.(YUAN Qingke,ZHANG Zhenya,BI Qing.Linear fitting application based on the improved RANSAC algorithm[J].Modular Machine Tool&Automatic Manufacturing Technique,2015(1):123-125．）
• [25]贾渭娟．SLAM中数据关联算法研究[D]．西安：西安理工大学，2013.(JIA Weijuan.Research on data association algorithm for simultaneous localization and mapping[D].Xi’an:Xi’an University of Technology,2013.)