Improved-UWB/LiDAR-SLAM Tightly Coupled Positioning System with NLOS Identification Using a LiDAR Point Cloud in GNSS-Denied Environments

Chen, Zhijian; Xu, Aigong; Xin, Shihe; Wang, Changqiang; Wang, Siyu; Gao, Jiaxin; Shi, Zhengxu

doi:10.3390/rs14061380

Cited by 19 publications

(10 citation statements)

References 44 publications

(63 reference statements)

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“…As is shown, the HDOP and VDOP were 0.79 and 77. 35 compared to the other algorithms, while UWB distance suffered NLOS errors (i.e., aroun epochs 200-300, 3800-4000, and 6400-6600). In general, it benefitted from the resistanc mechanism of RPF in Equation ( 16).…”

Section: Evaluations Based On the Field Testmentioning

confidence: 93%

“…As is shown, the HDOP and VDOP were 0.79 and 77. 35 Figure 12 shows the statistical results of UWB position errors in horizont tical components of the seven algorithms in terms of RMSE and average erro tively. Similar to the simulation results, the horizontal positioning accuracy higher than the vertical positioning accuracy.…”

Section: Evaluations Based On the Field Testmentioning

confidence: 99%

See 1 more Smart Citation

Comprehensive Evaluations of NLOS and Linearization Errors on UWB Positioning

Гао

et al. 2023

Applied Sciences

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Currently, ultra-wide band (UWB) is adopted as a useful high-accuracy positioning technique in satellite-blocked areas. However, UWB’s positioning performance would be limited significantly because of non-line of sight (NLOS) errors. Additionally, the truncation errors in these linearization-based adjustments such as least squares (LS) and extended Kalman filter (EKF) would also visibly degrade UWB positioning accuracy. To overcome the impacts of NLOS errors and truncation errors, this paper introduced a robust-theory-based particle filter (RPF) into UWB positioning. In such a method, the IGG-III model and PF were adopted to limit the impacts of NLOS errors and truncation errors, respectively, by introducing a weight inflation factor and particle group. For comparison, the Bancroft, LS, EKF, unscented Kalman filter (UKF), cubature Kalman filter (CKF), PF, and RPF were also presented. Here, the influences of truncation errors were analyzed by comparing the results based on LS and EKF with those calculated by UKF, CKF, and PF. The impacts of NLOS errors were evaluated by making a comparison between the results of PF and RPF. Results based on a set of simulated UWB data and a group of experiment UWB data demonstrated that the RPF can significantly avoid the positioning errors caused by both truncation errors and NLOS errors. In general, position improvements percentages of 57.2%, 52.7%, 39.6%, 38.2%, 26.6%, and 20.4% can be obtained by RPF compared to those calculated by Bancroft, LS, EKF, UKF, CKF, and PF, respectively. As a comparison, the truncation error would lead to about 8.1%, 10.1%, and 33.2% accuracy decrease in the north, east, and vertical directions on average. Such accuracy-decrease rates caused by NLOS were 6.1%, 5.2%, and 25%.

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Section: Evaluations Based On the Field Testmentioning

confidence: 93%

Section: Evaluations Based On the Field Testmentioning

confidence: 99%

Comprehensive Evaluations of NLOS and Linearization Errors on UWB Positioning

Гао

et al. 2023

Applied Sciences

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“…However, if there is a loss of position data obtained using the 2D LiDAR sensor, the location data were used for correction. Due to the limitations of UWB error, many studies are being conducted on the fusion of UWB and Lidar sensors [31][32][33]. A UWB sensor is attached to the shoulder of the vest; during rehearsal, actors wear the sensor-attached vest (Figure 4(b)) for identification while performing on stage.…”

Section: Stage Calibration and Human Datamentioning

confidence: 99%

Development for Multisensor and Virtual Simulator–Based Automatic Broadcast Shooting System

Lee

Lim

Kim

2022

International Journal of Digital Multimedia Broadcasting

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To solve the limitations of complexity and repeatability of existing broadcast filming systems, a new broadcast filming system was developed. In particular, for Korean music broadcasts, the shooting sequence is stage and lighting installation, rehearsal, lighting effect production, and main shooting; however, this sequence is complex and involves multiple people. We developed an automatic shooting system that can produce the same effect as the sequence with a minimum number of people as the era of un-tact has emerged because of COVID-19. The developed system comprises a simulator. After developing a stage using the simulator, during rehearsal, dancers’ movements are acquired using UWB and two-dimensional (2D) LiDAR sensors. By inserting acquired movement data in the developed stage, a camera effect is produced using a virtual camera installed in the developed simulator. The camera effect comprises pan, tilt, and zoom, and a camera director creates lightning effects while evaluating the movements of virtual dancers on the virtual stage. In this study, four cameras were used, three of which were used for camera pan, tilt, and zoom control, and the fourth was used as a fixed camera for a full shot. Video shooting is performed according to the pan, tilt, and zoom values of the three cameras and switcher data. Only the video of dancers recorded during rehearsal and that produced by the lighting director via the existing broadcast filming process is overlapped in the developed simulator to assess lighting effects. The lighting director assesses the overlapping video and then corrects parts that require to be corrected or emphasized. The abovementioned method produced better lighting effects optimized for music and choreography compared to existing lighting effect production methods. Finally, the performance and lighting effects of the developed simulator and system were confirmed by shooting using K-pop using the pan, tilt, and zoom control plan, switcher sequence, and lighting effects of the selected camera.

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“…In complex indoor environments, LiDAR/SLAM typically provides more robust results under such conditions than UWB-only positioning. In Chen et al . (2022), authors propose an improved UWB/LiDAR/SLAM tightly coupled (TC) integrated algorithm combining a LiDAR point cloud map generated by LiDAR/SLAM with position information from UWB anchors in real time.…”

Section: Introductionmentioning

confidence: 99%

The usefulness of sensor fusion for unmanned aerial vehicle indoor positioning

Guo

Chen

et al. 2023

IJIUS

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PurposeIn this study, an indoor sensor information fusion positioning system of the quadrotor unmanned aerial vehicle (UAV) was investigated to solve the problem of unstable indoor flight positioning.Design/methodology/approachThe presented system was built on Light Detection and Ranging (LiDAR), Inertial Measurement Unit (IMU) and LiDAR-Lite devices. Based on this, one can obtain the aircraft's current attitude and the position vector relative to the target and control the attitudes and positions of the UAV to reach the specified target positions. While building a UAV positioning model relative to the target for indoor positioning scenarios under limited Global Navigation Satellite Systems (GNSS), the system detects the environment through the NVIDIA Jetson TX2 (Transmit Data) peripheral sensor, obtains the current attitude and the position vector of the UAV, packs the data in the format and delivers it to the flight controller. Then the flight controller controls the UAV by calculating the posture to reach the specified target position.FindingsThe authors used two systems in the experiment. The first is the proposed UAV, and the other is the Vicon system, our reference system for comparison purposes. Vicon positioning error can be considered lower than 2 mm from low to high-speed experiments. After comparison, experimental results demonstrated that the system could fully meet the requirements (less than 50 mm) in real-time positioning of the indoor quadrotor UAV flight. It verifies the accuracy and robustness of the proposed method compared with that of Vicon and achieves the aim of a stable indoor flight preliminarily.Originality/valueVicon positioning error can be considered lower than 2 mm from low to high-speed experiments. After comparison, experimental results demonstrated that the system could fully meet the requirements (less than 50 mm) in real-time positioning of the indoor quadrotor UAV flight. It verifies the accuracy and robustness of the proposed method compared with that of Vicon and achieves the aim of a stable indoor flight preliminarily.

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Improved-UWB/LiDAR-SLAM Tightly Coupled Positioning System with NLOS Identification Using a LiDAR Point Cloud in GNSS-Denied Environments

Cited by 19 publications

References 44 publications

Comprehensive Evaluations of NLOS and Linearization Errors on UWB Positioning

Comprehensive Evaluations of NLOS and Linearization Errors on UWB Positioning

Development for Multisensor and Virtual Simulator–Based Automatic Broadcast Shooting System

The usefulness of sensor fusion for unmanned aerial vehicle indoor positioning

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