基于无线传感器网络的月球车定位导航研究
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摘要
月球是地球唯一的天然卫星,是人类向外太空发展的第一步。月球上约有60多种丰富的矿藏和新能源,具有潜在的巨大的经济意义。开发月球资源,建立月球基地已成为世界航天活动的必然趋势和竞争热点。2004年2月,我国国防科工委/国家航天局宣布我国的“嫦娥”探月工程。目前,“嫦娥”二期工程正在积极准备中,其中一个重点内容就是研究月球车在月面环境下的定位导航问题。
无线传感器网络(Wireless Sensor Network, WSN)就是由部署在监测区域内的大量廉价微型传感器节点组成,通过无线通信方式形成一个多跳的自组织网络系统,其目的是协作地感知、采集和处理网络覆盖区域中感知对象的信息并发送给观察者。无线传感器网络集成智能传感器技术、微机电系统技术和网络通讯技术三大技术,具有非常广阔的应用前景,是当前国际上备受关注的、多学科高度交叉的新兴前沿研究热点之一。
本文在国家自然科学基金重点项目“月球探测系统的建模、传感、导航和控制基础理论及关键技术研究(60535010)”的资助下,提出研究基于无线传感器网络的月球车定位导航新方法。论文包括以下几个方面:
1、提出了一种鲁棒的分布式无线传感器网络定位算法,无论在规则网络中还是不规则网络中,都很好地提高了传感器节点的定位精度,尤其是在不规则网络中。
2、提出了一种结合激光定位和无线传感器网络的月球车定位新方法,给出了月球车定位系统框架,利用月面着陆器上的激光雷达实现月球车的高精度定位,同时采用在障碍物投影两边布置锚节点的方法,提高在激光雷达非视距情况下月球车的定位性能。
3、开展了一系列基于RSSI的传感器节点测量实验和移动机器人定位导航实验,在我们的实验平台上对基于RSSI的无线传感器网络环境下月球车定位导航进行了实际评估和验证。
The only natural satellite of the Earth is the Moon, which is the first step for human to explore outer space. There are about sixty different kinds of rich minerals and new energy, which has huge potential economic significance. Thus, exploring the moon and establishing the moon base has become the inevitable trend of the world space activities and hot competition. In February 2004, Chinese defense department and country space department announced our Moon exploring plan---“Chang’e”project. At present, the second stage of the“Chang’e”project is well prepared, in which one of the key research contents is lunar rover localization and navigation in the moon environment.
Wireless Sensor Network (WSN) is a multi-hop self-organizing wireless network system, which is consisted of a large amount of cheap sensor nodes deployed in the monitoring area, and communicates with each other by the RF wave. Its purpose is to collaborate to sense, collect, process the information in the monitoring area and finally send them to observer. WSN is an emerging information acquistion and processing technology which intergrates sensor technology, MEMS technology and communication technology. It shows extensive application prospect, thus becoming a hot research area in international research.
Under the support of National Natural Science Foundation of China---Grant No. 60535010, we propose a novel lunar rover localization and navigation method based on WSN, which contains as fellows:
1. Presents a robust and distributed localization algorithm in WSN. Whether in regular networks or irregular networks, the proposed algorithm can improve sensor node localization accuracy, especially in the irregular networks.
2. Presents a novel lunar rover localization method conbining laser localization and WSN. We give the lunar rover’s localization system and use Lidar to realize high localization accuracy of lunar rover. When the Lidar cannot be used due to large obstacles, we will enhance the lunar rover localization by deploying more anchors along with the projection of large obstacles.
3. Conducts a series of measurement experiment based on RSSI and mobile robot localization and navigation experiments. In our experiment platform, we evaluate and validate RSSI based lunar rover localization and navigation.
无线传感器网络(Wireless Sensor Network, WSN)就是由部署在监测区域内的大量廉价微型传感器节点组成,通过无线通信方式形成一个多跳的自组织网络系统,其目的是协作地感知、采集和处理网络覆盖区域中感知对象的信息并发送给观察者。无线传感器网络集成智能传感器技术、微机电系统技术和网络通讯技术三大技术,具有非常广阔的应用前景,是当前国际上备受关注的、多学科高度交叉的新兴前沿研究热点之一。
本文在国家自然科学基金重点项目“月球探测系统的建模、传感、导航和控制基础理论及关键技术研究(60535010)”的资助下,提出研究基于无线传感器网络的月球车定位导航新方法。论文包括以下几个方面:
1、提出了一种鲁棒的分布式无线传感器网络定位算法,无论在规则网络中还是不规则网络中,都很好地提高了传感器节点的定位精度,尤其是在不规则网络中。
2、提出了一种结合激光定位和无线传感器网络的月球车定位新方法,给出了月球车定位系统框架,利用月面着陆器上的激光雷达实现月球车的高精度定位,同时采用在障碍物投影两边布置锚节点的方法,提高在激光雷达非视距情况下月球车的定位性能。
3、开展了一系列基于RSSI的传感器节点测量实验和移动机器人定位导航实验,在我们的实验平台上对基于RSSI的无线传感器网络环境下月球车定位导航进行了实际评估和验证。
The only natural satellite of the Earth is the Moon, which is the first step for human to explore outer space. There are about sixty different kinds of rich minerals and new energy, which has huge potential economic significance. Thus, exploring the moon and establishing the moon base has become the inevitable trend of the world space activities and hot competition. In February 2004, Chinese defense department and country space department announced our Moon exploring plan---“Chang’e”project. At present, the second stage of the“Chang’e”project is well prepared, in which one of the key research contents is lunar rover localization and navigation in the moon environment.
Wireless Sensor Network (WSN) is a multi-hop self-organizing wireless network system, which is consisted of a large amount of cheap sensor nodes deployed in the monitoring area, and communicates with each other by the RF wave. Its purpose is to collaborate to sense, collect, process the information in the monitoring area and finally send them to observer. WSN is an emerging information acquistion and processing technology which intergrates sensor technology, MEMS technology and communication technology. It shows extensive application prospect, thus becoming a hot research area in international research.
Under the support of National Natural Science Foundation of China---Grant No. 60535010, we propose a novel lunar rover localization and navigation method based on WSN, which contains as fellows:
1. Presents a robust and distributed localization algorithm in WSN. Whether in regular networks or irregular networks, the proposed algorithm can improve sensor node localization accuracy, especially in the irregular networks.
2. Presents a novel lunar rover localization method conbining laser localization and WSN. We give the lunar rover’s localization system and use Lidar to realize high localization accuracy of lunar rover. When the Lidar cannot be used due to large obstacles, we will enhance the lunar rover localization by deploying more anchors along with the projection of large obstacles.
3. Conducts a series of measurement experiment based on RSSI and mobile robot localization and navigation experiments. In our experiment platform, we evaluate and validate RSSI based lunar rover localization and navigation.
引文
欧阳自远,李春来,邹永廖,刘建忠,徐琳. 2002.深空探测的进展与我国深空探测的发展战略[C]. 2002年深空探测技术与应用科学国际会议,pp.237-243.
于海斌,曾鹏等. 2006.智能无线传感器网络系统[M].北京:清华大学出版社,前言,6-7, 304,307-310,311-315.
李文峰. 2009.无线传感器网络与移动机器人控制[M].科学出版社.
任丰原,黄海宁,林闯. 2003.无线传感器网络[J].软件学报,14(7):1282-1291.
孙利民,李建中,陈渝,朱红松. 2005.无线传感器网络[M].北京:清华大学出版社,4-25,288-291.
Nilsson N J.1969. A Mobile Automation:An Application of Artificial Intelligence Techniques[C].In:Proceedings of the 1st International Joint Conference on Artificial Intelligence,1969:509-520.
Mishkin,J. Morrison, T. Nguyen, H. Stone, B. Cooper, and B. Wilcox.1998.
Experiences with operations and autonomy of the mars path nder microrover[C].In Proceedings of Aerospace Conference, vol. 2, pp: 337-351.
Akyildiz IF, Su W, Sankarasubramaniam Y, Cayirci E.2002. Wireless Sensor Networks: a Survey[J]. Computer Networks, 38(4):393-422.
J.R.Polastre, D.Culler.2003. Design and Implementation of Wireless SensorNetworks for Habitat Monitoring. University of California at Berkeley, Master Thesis.
王天然等. 1995.一个开放式移动机器人体系结构[J].机器人,17(4): 193-199.
张朋飞,何克忠,欧阳正柱,张军宇. 2002.多功能室外智能移动机器人实验平台- THMR-V[J].机器人,24(2):97-101.
蔡自兴,周翔,李枚毅,雷鸣. 2000.基于功能/行为集成的自主式移动机器人进化控制体系结构[J].机器人,22(3):169-175.
EG Straser, AS Kiremidjian, TH Meng, et al. 1998. Wireless network platform for monitoring structures[C].16th International Modal Analysis Conference. pp. 450-456.
李圣怡,戴一帆,刘阳.2001.月球火星探测与月球探测车研制初探[C].第二届月球探测技术研讨会论文集.北京.
Anthony H.Young.2007.Lunar and Planetary Rovers:The wheels of Apollo and the Quest for Mars[M].Publisher Springer New York.
宋国强. 2008.基于CAN总线的月球车控制系统研究,上海交通大学学位论文.
岳富占,崔平远,崔祜涛. 2006.月球巡视探测器定位技术研究.机器人[J],28(2):235-240.
岳富占,崔平远,崔祜涛,居鹤华. 2006.月球巡视探测器自主定位算法研究[J].航空学报,27(3):500-504.
K. Park, H. Chung, G. Choi, J. G. Lee.1997. Dead Reckoning Navigation for a Mobile Robot Using a Differential Encoder and a Gyroscope[C]. Proceedings of the ICRA 1997. pp:441-446.
Deborah A. Sigel, David Wettergreen.2007. Star Tracker Celestial Localization System for a Lunar Rover[C]. Proceedings of the IROS 2007. pp:2851-2856.
G N DeSouza, A C Kak. 2002. Vision for Mobile Robot Navigation: A Survey [J]. IEEE Trans on PAMI, 24(2): 237-267.
Linqa. S, Binayak Roy, Asada. H, Rus.D.2008. An optical external localization system and applications to indoor tracking[C]. Proceedings of IROS 2008, pp: 1127-1132.
Felix von Hundelshausen, Michael Himmelsbach, Falk Hecker, et al. 2008. Driving with Tentacles: Integral Structures for Sensing and Motion[J]. Journal of Field Robotics, 25(9): 640-673.
LI Ting-jun, LIN Xue-yuan, DONG Wen-hong, et al.2006. Research on integrated navigation system by rubidium clock[J]. Journal on Communication. Vol. 27, NO.8: 144-147.
T.S.Rappapport. 1996. Wireless Communications: Principles and Practice [J]. Prentice Hall: New Jersey, pp: 50-143.
J. Caffery.2000. A new approach to the geometry of TOA location[C]. Proc. Of IEEE Vehicular Technology Conference (VTC), pp: 1943-1950
A. Savvides, C. C. Han and M. B. Srivastava.2001. Dynamic Fine-Grained Localization in Ad-Hoc Networks of Sensors[C].In Proceedings of MOBICOM’01, pp: 166-179.
Niculescu D, Nath B. 2003. Ad hoc positioning system (APS) using AOA[C].Proc
22nd Annual Joint Conf of the IEEE Computer and Communications Societies (INFOCOM'2003) , pp: 1734-1743.
Bulusu N, Heidemann J, Estrin D.2000. GPS-less low-cost outdoor localization for very small devices [J]. Personal Communications, IEEE, 2000, 7(5):28-34.
L. Doherty, K. Pister, and L. EI Ghaoui. 2001. Convex position estimation inwireless sensor networks [C].In IEEE Infocom 2001, pp: 1655-1663.
D. Niculescu, B. Nath. 2001. Ad Hoc Positioning System (APS)[C]. Proc. of the IEEE GLOBECOM 2001, San Antonio, pp: 2926-2931.
Tian He, Chengdu Huang, Brian M. Blum, John A. Stankovic, and Tarek Abdelzaher. 2003. Range-Free localization schemes in large scale sensor networks[C]. Proc. of the 9th Annual Intl. Conf. on Mobile Computing and Networking,pp: 81-95.
Savarese C, Rabay J, Langendoen K.2002. Robust Positioning Algorithms for Distributed Ad-hoc Wireless Sensor Networks[C]. Proc. of the USENIX Technical Annual Conf. Monterey: USENIX Press.
Yi Shang, W.Ruml, K.Zhang, and M.Fromherz.2003. Localization from mere connectivity[C]. ACM MobiHoc, Annapolis, MD, pp: 201-212.
Yi Shang, W. Ruml.2004. Improved MDS-based localization[C]. INFOCOM2004, pp: 2640-2651.
A. Savvides, W. Garber, S. Adlakha, R. Moses, and M. Srivastava.2003. On the error characteristics of multihop node localization in ad-hoc sensor networks[J]. In IPSN, 2003, LNCS 2624: 317-332.
PoggiC, Mazzini G.2004. Collinearity for sensor network localization[C]. Proceedings of 2003 IEEE 58th Vehicular Technology Conference, pp: 3040-304.
Xiao Mingyao.1980. Experiment Error Estimate and Data Processing[M]. Science Press, 1980.3, pp: 142-143.
Chen, W.M, Liang, H.W, Mei, T.2007. Design and implementation of wireless sensor networks for robot navigation[J]. International Journal of Information Acquisition 2007, 4, 77-89.
Heiken. G, Vaniman. D, French. B.1991. Lunar Sourcebook: A User’s Guide to the Moon[M]. Cambridge Univ Press.
缪仕福,梁华为,孟庆虎,陈万明,李帅. 2007.月球环境下无线传感器网络节点的设计[J].传感器与微系统,26(8):117-120.
Benkic, K., M. Malajner, et al.2008. Using RSSI value for distance estimation in wireless sensor networks based on ZigBee Systems[C], 15th International Conference on Systems, Signals and Image Processing, pp: 303-306.
K. Yedavalli, B. Krishnamachari, S. Ravula, and B. Srinivasan.2005. Ecolocation: a sequence based technique for RF localization in wireless sensor networks[C]. Proceedings of the 4th international symposium on Information processing in sensor networks, pp: 285-292.
T. Rappaport.1999. Wireless Communications: Principles and Practice[M]. IEEE Press, Prentice Hail PTR.
GANG ZHOU, TIAN HE, SUDHA KRISHNAMURTHY, and JOHN A. STANKOVIC.2006. Models and Solutions for Radio Irregulartiry in Wireless Sensor Networks[J], ACM Transactions on Sensor Networks, Vol. 2, No.2: 221-262
Kamin Whitehouse, Chris Karlof, David Culler.2007. A practical Evaluation of Radio Signal Strength for Ranging–based Localization[J], SIGMOBILE Mobile Computing and Communications Review, Volume 11 Issue 1: 41-52.
于海斌,曾鹏等. 2006.智能无线传感器网络系统[M].北京:清华大学出版社,前言,6-7, 304,307-310,311-315.
李文峰. 2009.无线传感器网络与移动机器人控制[M].科学出版社.
任丰原,黄海宁,林闯. 2003.无线传感器网络[J].软件学报,14(7):1282-1291.
孙利民,李建中,陈渝,朱红松. 2005.无线传感器网络[M].北京:清华大学出版社,4-25,288-291.
Nilsson N J.1969. A Mobile Automation:An Application of Artificial Intelligence Techniques[C].In:Proceedings of the 1st International Joint Conference on Artificial Intelligence,1969:509-520.
Mishkin,J. Morrison, T. Nguyen, H. Stone, B. Cooper, and B. Wilcox.1998.
Experiences with operations and autonomy of the mars path nder microrover[C].In Proceedings of Aerospace Conference, vol. 2, pp: 337-351.
Akyildiz IF, Su W, Sankarasubramaniam Y, Cayirci E.2002. Wireless Sensor Networks: a Survey[J]. Computer Networks, 38(4):393-422.
J.R.Polastre, D.Culler.2003. Design and Implementation of Wireless SensorNetworks for Habitat Monitoring. University of California at Berkeley, Master Thesis.
王天然等. 1995.一个开放式移动机器人体系结构[J].机器人,17(4): 193-199.
张朋飞,何克忠,欧阳正柱,张军宇. 2002.多功能室外智能移动机器人实验平台- THMR-V[J].机器人,24(2):97-101.
蔡自兴,周翔,李枚毅,雷鸣. 2000.基于功能/行为集成的自主式移动机器人进化控制体系结构[J].机器人,22(3):169-175.
EG Straser, AS Kiremidjian, TH Meng, et al. 1998. Wireless network platform for monitoring structures[C].16th International Modal Analysis Conference. pp. 450-456.
李圣怡,戴一帆,刘阳.2001.月球火星探测与月球探测车研制初探[C].第二届月球探测技术研讨会论文集.北京.
Anthony H.Young.2007.Lunar and Planetary Rovers:The wheels of Apollo and the Quest for Mars[M].Publisher Springer New York.
宋国强. 2008.基于CAN总线的月球车控制系统研究,上海交通大学学位论文.
岳富占,崔平远,崔祜涛. 2006.月球巡视探测器定位技术研究.机器人[J],28(2):235-240.
岳富占,崔平远,崔祜涛,居鹤华. 2006.月球巡视探测器自主定位算法研究[J].航空学报,27(3):500-504.
K. Park, H. Chung, G. Choi, J. G. Lee.1997. Dead Reckoning Navigation for a Mobile Robot Using a Differential Encoder and a Gyroscope[C]. Proceedings of the ICRA 1997. pp:441-446.
Deborah A. Sigel, David Wettergreen.2007. Star Tracker Celestial Localization System for a Lunar Rover[C]. Proceedings of the IROS 2007. pp:2851-2856.
G N DeSouza, A C Kak. 2002. Vision for Mobile Robot Navigation: A Survey [J]. IEEE Trans on PAMI, 24(2): 237-267.
Linqa. S, Binayak Roy, Asada. H, Rus.D.2008. An optical external localization system and applications to indoor tracking[C]. Proceedings of IROS 2008, pp: 1127-1132.
Felix von Hundelshausen, Michael Himmelsbach, Falk Hecker, et al. 2008. Driving with Tentacles: Integral Structures for Sensing and Motion[J]. Journal of Field Robotics, 25(9): 640-673.
LI Ting-jun, LIN Xue-yuan, DONG Wen-hong, et al.2006. Research on integrated navigation system by rubidium clock[J]. Journal on Communication. Vol. 27, NO.8: 144-147.
T.S.Rappapport. 1996. Wireless Communications: Principles and Practice [J]. Prentice Hall: New Jersey, pp: 50-143.
J. Caffery.2000. A new approach to the geometry of TOA location[C]. Proc. Of IEEE Vehicular Technology Conference (VTC), pp: 1943-1950
A. Savvides, C. C. Han and M. B. Srivastava.2001. Dynamic Fine-Grained Localization in Ad-Hoc Networks of Sensors[C].In Proceedings of MOBICOM’01, pp: 166-179.
Niculescu D, Nath B. 2003. Ad hoc positioning system (APS) using AOA[C].Proc
22nd Annual Joint Conf of the IEEE Computer and Communications Societies (INFOCOM'2003) , pp: 1734-1743.
Bulusu N, Heidemann J, Estrin D.2000. GPS-less low-cost outdoor localization for very small devices [J]. Personal Communications, IEEE, 2000, 7(5):28-34.
L. Doherty, K. Pister, and L. EI Ghaoui. 2001. Convex position estimation inwireless sensor networks [C].In IEEE Infocom 2001, pp: 1655-1663.
D. Niculescu, B. Nath. 2001. Ad Hoc Positioning System (APS)[C]. Proc. of the IEEE GLOBECOM 2001, San Antonio, pp: 2926-2931.
Tian He, Chengdu Huang, Brian M. Blum, John A. Stankovic, and Tarek Abdelzaher. 2003. Range-Free localization schemes in large scale sensor networks[C]. Proc. of the 9th Annual Intl. Conf. on Mobile Computing and Networking,pp: 81-95.
Savarese C, Rabay J, Langendoen K.2002. Robust Positioning Algorithms for Distributed Ad-hoc Wireless Sensor Networks[C]. Proc. of the USENIX Technical Annual Conf. Monterey: USENIX Press.
Yi Shang, W.Ruml, K.Zhang, and M.Fromherz.2003. Localization from mere connectivity[C]. ACM MobiHoc, Annapolis, MD, pp: 201-212.
Yi Shang, W. Ruml.2004. Improved MDS-based localization[C]. INFOCOM2004, pp: 2640-2651.
A. Savvides, W. Garber, S. Adlakha, R. Moses, and M. Srivastava.2003. On the error characteristics of multihop node localization in ad-hoc sensor networks[J]. In IPSN, 2003, LNCS 2624: 317-332.
PoggiC, Mazzini G.2004. Collinearity for sensor network localization[C]. Proceedings of 2003 IEEE 58th Vehicular Technology Conference, pp: 3040-304.
Xiao Mingyao.1980. Experiment Error Estimate and Data Processing[M]. Science Press, 1980.3, pp: 142-143.
Chen, W.M, Liang, H.W, Mei, T.2007. Design and implementation of wireless sensor networks for robot navigation[J]. International Journal of Information Acquisition 2007, 4, 77-89.
Heiken. G, Vaniman. D, French. B.1991. Lunar Sourcebook: A User’s Guide to the Moon[M]. Cambridge Univ Press.
缪仕福,梁华为,孟庆虎,陈万明,李帅. 2007.月球环境下无线传感器网络节点的设计[J].传感器与微系统,26(8):117-120.
Benkic, K., M. Malajner, et al.2008. Using RSSI value for distance estimation in wireless sensor networks based on ZigBee Systems[C], 15th International Conference on Systems, Signals and Image Processing, pp: 303-306.
K. Yedavalli, B. Krishnamachari, S. Ravula, and B. Srinivasan.2005. Ecolocation: a sequence based technique for RF localization in wireless sensor networks[C]. Proceedings of the 4th international symposium on Information processing in sensor networks, pp: 285-292.
T. Rappaport.1999. Wireless Communications: Principles and Practice[M]. IEEE Press, Prentice Hail PTR.
GANG ZHOU, TIAN HE, SUDHA KRISHNAMURTHY, and JOHN A. STANKOVIC.2006. Models and Solutions for Radio Irregulartiry in Wireless Sensor Networks[J], ACM Transactions on Sensor Networks, Vol. 2, No.2: 221-262
Kamin Whitehouse, Chris Karlof, David Culler.2007. A practical Evaluation of Radio Signal Strength for Ranging–based Localization[J], SIGMOBILE Mobile Computing and Communications Review, Volume 11 Issue 1: 41-52.