室内定位技术的测试与评估标准综述
|
摘要
针对当前各种室内定位技术缺少完备统一的标准,因而很难对各技术进行综合而客观的测试和评估,严重阻碍室内定位领域发展的问题,从室内坐标系、性能指标、测试场景、综合评估等多个方面介绍国内外对室内定位技术测试与评估标准的最新进展,最后展望室内定位相关标准的发展方向。
Aiming at the problem that it is lack of complete and unified standards for various indoor positioning technology currently,leading to the difficulty to comprehensively and objectively test and evaluate the technology, which seriously hinders the development of indoor positioning field, the paper introduced the latest progress in testing and evaluation standards for indoor positioning technology at home and abroad from many aspects including indoor coordinate system, performance metrics, test scenarios, and comprehensive evaluation,etc. Finally the developing trends of the related standards were prospected.
Aiming at the problem that it is lack of complete and unified standards for various indoor positioning technology currently,leading to the difficulty to comprehensively and objectively test and evaluate the technology, which seriously hinders the development of indoor positioning field, the paper introduced the latest progress in testing and evaluation standards for indoor positioning technology at home and abroad from many aspects including indoor coordinate system, performance metrics, test scenarios, and comprehensive evaluation,etc. Finally the developing trends of the related standards were prospected.
引文
[1]刘公绪,史凌峰.室内导航与定位技术发展综述[J].导航定位学报,2018,6(2):7-14.
[2]DARDARI D,CLOSAS P,DJURIC P M.Indoor tracking:theory,methods,and technologies[J].IEEE Transactions on Vehicular Technology,2015(4):1263-1278.
[3]REN M R,PAN K,LIU Y H,et al.A novel pedestrian navigation algorithm for a foot-mounted inertial-sensor-based system[EB/OL].[2018-08-29].https://www.mdpi.com/1424-8220/16/1/139.
[4]YASSIN A,NASSER Y,AWAD M,et al.Recent advances in indoor localization:a survey on theoretical approaches and applications[J].IEEE Communications Surveys and Tutorials,2017,19(2):1327-1346.
[5]HARLE R.A survey of indoor inertial positioning systems for pedestrians[J].IEEE Communications Surveys and Tutorials,2013,15(3):1281-1293.
[6]LIU G X,SHI L F,XUN J H,et al.Orientation estimation algorithm based on multi-source information fusion[J].Measurement Science and Technology,2018,29(11):1-11.
[7]AGGARWAL P,THOMAS D,OJEDA L,et al.Map matching and heuristic elimination of gyro drift for personal navigation systems in GPS-denied conditions[J].Measurement Science and Technology,2011,22(2):1-12.
[8]KOK M,HOL J D,SCHON T B.Indoor positioning using ultrawideband and inertial measurements[J].IEEETransactions on Vehicular Technology,2015,64(4):1293-1303.
[9]ABDULRAHIM K,HIDE C,MOORE T,et al.Using constraints for shoe mounted indoor pedestrian navigation[J].Journal of Navigation,2012,65(1):15-28.
[10]LIU G X,SHI L F.Adaptive algorithm of magnetic heading detection[J].Measurement Science and Technology,2017,28(11):1-8.
[11]鲁航,巴斌,王朋飞.一种基于改进PDR与外部位置信息的融合定位算法[J].太赫兹科学与电子信息学报,2017,15(3):402-408.
[12]闫金金,尚建嘎,余芳文,等.一种面向行人自主定位的3D建筑模型构建方法[J].计算机应用与软件,2013,30(10):16-20.
[13]LI Y,ZHUANG Y,ZHANG P,et al.An improved inertial/wifi/magnetic fusion structure for indoor navigation[J].Information Fusion,2017,34(C):101-119.
[14]TIAN Z S,JIN Y,ZHOU M,et al.Wi-Fi/MARG integration for indoor pedestrian localization[EB/OL].[2018-08-29].https://www.mdpi.com/1424-8220/16/12/2100.
[15]贺磊南,卢虎,姬正洲.WiFi/PDR室内分层三维定位技术[J].西安电子科技大学学报(自然科学版),2017,44(4):167-173.
[16]JONES E S,SOATTO S.Visual-inertial navigation,mapping and localization:a scalable real-time causal approach[J].The International Journal of Robotics Research,2011,30(4):407-430.
[17]NORRDINE A,KASMI Z,BLANKENBACH J.Step detection for ZUPT-aided inertial pedestrian navigation system using foot-mounted permanent magnet[J].IEEE Sensors Journal,2016,16(17):6766-6773.
[18]ALTUN K,BARSHAN B.Pedestrian dead reckoning employing simultaneous activity recognition cues[J].Measurement Science and Technology,2012,23(2):1-20.
[19]JU H,LEE M S,PARK S Y,et al.A pedestrian dead-reckoning system that considers the heel-strike and toe-off phases when using a foot-mounted IMU[J].Measurement Science and Technology,2016,27(1):1-11.
[20]MENG X L,ZHANG Z Q,SUN S Y,et al.Biomechanical model-based displacement estimation in micro-sensor motion capture[J].Measurement Science and Technology,2012,23(5):1-11.
[21]汪少初.基于PDR的定位与跟踪技术研究及系统设计[D].天津:天津大学,2014.
[22]王博,陈晓晨,安旭东,等.室内定位技术与测试方法[J].电信网技术,2017(10):72-75.
[23]陈诗军,王慧强,陈大伟.新一代无线定位技术研究与发展趋势分析[J].中兴通讯技术,2018,24(2):54-58.
[24]刘克强,褚天行,毕京学,等.一种顾及动静态的室内定位技术精度评价方法[J].测绘通报,2017(5):17-20.
[25]ALESSANDRA M.Knowledge-based multi-criteria optimization to support indoor positioning[J].Annals of Mathematics and Artificial Intelligence,2011,62(3/4):345-370.
[26]LI N,BECERIK-GERBER B.Performance-based evaluation of RFID-based indoor location sensing solutions for the built environment[J].Advanced Engineering Informatics,2011,25(3):535-546.
[27]PREMCHAISAWATT S,RUANGCHAIJATUPON N.The novel performance evaluation method of the fingerprintingbased indoor positioning[J].IEICE Transactions on Information and Systems,2016,99(8):2131-2139.
[28]HAUTE T V,POORTER E D,MOERMAN I,et al.Comparability of RF-based indoor localisation solutions in heterogeneous environments:an experimental study[J].International Journal of AD HOC and Ubiquitous Computing,2016,23(1/2):92-114.
[29]BOLLMEYER C,PELKA M,GEHRING H,et al.Evaluation of radio based,optical and barometric localization for indoor altitude estimation in medical applications[C]//The Institute of Electrical and Electronic Engineers(IEEE).Processing of the International Conference on Indoor Positioning and Indoor Navigation.Buan,South Korea:IEEE,2015:132-141.
[30]KLIPPENSTEIN J,ZHANG H.Performance evaluation of visual SLAM using several feature extractors[C]//The Institute of Electrical and Electronic Engineers(IEEE).Processing of the IEEE/RSJ International Conference on Intelligent Robots and Systems.St.Louis,MO:IEEE,2009:1574-1581.
[31]ANAGNOSTOPOULOS G G,OSA C M D L,NUNES T,et al.Practical evaluation and tuning methodology for indoor positioning systems[C]//The Institute of Electrical and Electronic Engineers(IEEE).Processing of the International Conference on Ubiquitous Positioning.Shanghai,China:IEEE,2017:130-139.
[32]TORRESSOSPEDRA J,JIMéNEZ A R,MOREIRA A,et al.Off-line evaluation of mobile-centric indoor positioning systems:the experiences from the 2017 IPIN competition[EB/OL].[2018-08-29].https://www.mdpi.com/1424-8220/18/2/487.
[33]International Organization for Standardization/International Electrotechnical Commission.Information technology-real time location systems-test and evaluation of localization and tracking systems:ISO/IEC18305:2016(en)[S/OL].[2018-08-29].https://www.iso.org/obp/ui/#iso:std:iso-iec:18305:ed-1:v1:en.
[34]钱学森.论系统工程:新世纪版[M].上海:上海交通大学出版社,2007.
[35]HAUTE T V,POORTER E D,LEMIC F,et al.Platform for benchmarking of RF-based indoor localization solutions[J].IEEE Communications Magazine,2015,53(9):126-133.
[2]DARDARI D,CLOSAS P,DJURIC P M.Indoor tracking:theory,methods,and technologies[J].IEEE Transactions on Vehicular Technology,2015(4):1263-1278.
[3]REN M R,PAN K,LIU Y H,et al.A novel pedestrian navigation algorithm for a foot-mounted inertial-sensor-based system[EB/OL].[2018-08-29].https://www.mdpi.com/1424-8220/16/1/139.
[4]YASSIN A,NASSER Y,AWAD M,et al.Recent advances in indoor localization:a survey on theoretical approaches and applications[J].IEEE Communications Surveys and Tutorials,2017,19(2):1327-1346.
[5]HARLE R.A survey of indoor inertial positioning systems for pedestrians[J].IEEE Communications Surveys and Tutorials,2013,15(3):1281-1293.
[6]LIU G X,SHI L F,XUN J H,et al.Orientation estimation algorithm based on multi-source information fusion[J].Measurement Science and Technology,2018,29(11):1-11.
[7]AGGARWAL P,THOMAS D,OJEDA L,et al.Map matching and heuristic elimination of gyro drift for personal navigation systems in GPS-denied conditions[J].Measurement Science and Technology,2011,22(2):1-12.
[8]KOK M,HOL J D,SCHON T B.Indoor positioning using ultrawideband and inertial measurements[J].IEEETransactions on Vehicular Technology,2015,64(4):1293-1303.
[9]ABDULRAHIM K,HIDE C,MOORE T,et al.Using constraints for shoe mounted indoor pedestrian navigation[J].Journal of Navigation,2012,65(1):15-28.
[10]LIU G X,SHI L F.Adaptive algorithm of magnetic heading detection[J].Measurement Science and Technology,2017,28(11):1-8.
[11]鲁航,巴斌,王朋飞.一种基于改进PDR与外部位置信息的融合定位算法[J].太赫兹科学与电子信息学报,2017,15(3):402-408.
[12]闫金金,尚建嘎,余芳文,等.一种面向行人自主定位的3D建筑模型构建方法[J].计算机应用与软件,2013,30(10):16-20.
[13]LI Y,ZHUANG Y,ZHANG P,et al.An improved inertial/wifi/magnetic fusion structure for indoor navigation[J].Information Fusion,2017,34(C):101-119.
[14]TIAN Z S,JIN Y,ZHOU M,et al.Wi-Fi/MARG integration for indoor pedestrian localization[EB/OL].[2018-08-29].https://www.mdpi.com/1424-8220/16/12/2100.
[15]贺磊南,卢虎,姬正洲.WiFi/PDR室内分层三维定位技术[J].西安电子科技大学学报(自然科学版),2017,44(4):167-173.
[16]JONES E S,SOATTO S.Visual-inertial navigation,mapping and localization:a scalable real-time causal approach[J].The International Journal of Robotics Research,2011,30(4):407-430.
[17]NORRDINE A,KASMI Z,BLANKENBACH J.Step detection for ZUPT-aided inertial pedestrian navigation system using foot-mounted permanent magnet[J].IEEE Sensors Journal,2016,16(17):6766-6773.
[18]ALTUN K,BARSHAN B.Pedestrian dead reckoning employing simultaneous activity recognition cues[J].Measurement Science and Technology,2012,23(2):1-20.
[19]JU H,LEE M S,PARK S Y,et al.A pedestrian dead-reckoning system that considers the heel-strike and toe-off phases when using a foot-mounted IMU[J].Measurement Science and Technology,2016,27(1):1-11.
[20]MENG X L,ZHANG Z Q,SUN S Y,et al.Biomechanical model-based displacement estimation in micro-sensor motion capture[J].Measurement Science and Technology,2012,23(5):1-11.
[21]汪少初.基于PDR的定位与跟踪技术研究及系统设计[D].天津:天津大学,2014.
[22]王博,陈晓晨,安旭东,等.室内定位技术与测试方法[J].电信网技术,2017(10):72-75.
[23]陈诗军,王慧强,陈大伟.新一代无线定位技术研究与发展趋势分析[J].中兴通讯技术,2018,24(2):54-58.
[24]刘克强,褚天行,毕京学,等.一种顾及动静态的室内定位技术精度评价方法[J].测绘通报,2017(5):17-20.
[25]ALESSANDRA M.Knowledge-based multi-criteria optimization to support indoor positioning[J].Annals of Mathematics and Artificial Intelligence,2011,62(3/4):345-370.
[26]LI N,BECERIK-GERBER B.Performance-based evaluation of RFID-based indoor location sensing solutions for the built environment[J].Advanced Engineering Informatics,2011,25(3):535-546.
[27]PREMCHAISAWATT S,RUANGCHAIJATUPON N.The novel performance evaluation method of the fingerprintingbased indoor positioning[J].IEICE Transactions on Information and Systems,2016,99(8):2131-2139.
[28]HAUTE T V,POORTER E D,MOERMAN I,et al.Comparability of RF-based indoor localisation solutions in heterogeneous environments:an experimental study[J].International Journal of AD HOC and Ubiquitous Computing,2016,23(1/2):92-114.
[29]BOLLMEYER C,PELKA M,GEHRING H,et al.Evaluation of radio based,optical and barometric localization for indoor altitude estimation in medical applications[C]//The Institute of Electrical and Electronic Engineers(IEEE).Processing of the International Conference on Indoor Positioning and Indoor Navigation.Buan,South Korea:IEEE,2015:132-141.
[30]KLIPPENSTEIN J,ZHANG H.Performance evaluation of visual SLAM using several feature extractors[C]//The Institute of Electrical and Electronic Engineers(IEEE).Processing of the IEEE/RSJ International Conference on Intelligent Robots and Systems.St.Louis,MO:IEEE,2009:1574-1581.
[31]ANAGNOSTOPOULOS G G,OSA C M D L,NUNES T,et al.Practical evaluation and tuning methodology for indoor positioning systems[C]//The Institute of Electrical and Electronic Engineers(IEEE).Processing of the International Conference on Ubiquitous Positioning.Shanghai,China:IEEE,2017:130-139.
[32]TORRESSOSPEDRA J,JIMéNEZ A R,MOREIRA A,et al.Off-line evaluation of mobile-centric indoor positioning systems:the experiences from the 2017 IPIN competition[EB/OL].[2018-08-29].https://www.mdpi.com/1424-8220/18/2/487.
[33]International Organization for Standardization/International Electrotechnical Commission.Information technology-real time location systems-test and evaluation of localization and tracking systems:ISO/IEC18305:2016(en)[S/OL].[2018-08-29].https://www.iso.org/obp/ui/#iso:std:iso-iec:18305:ed-1:v1:en.
[34]钱学森.论系统工程:新世纪版[M].上海:上海交通大学出版社,2007.
[35]HAUTE T V,POORTER E D,LEMIC F,et al.Platform for benchmarking of RF-based indoor localization solutions[J].IEEE Communications Magazine,2015,53(9):126-133.
© 2004-2018 中国地质图书馆版权所有 京ICP备05064691号 京公网安备11010802017129号 地址：北京市海淀区学院路29号 邮编：100083 电话：办公室：(+86 10)66554848；文献借阅、咨询服务、科技查新：66554700 |