基于VIO和Wi-Fi指纹技术的室内定位系统设计
|
摘要
针对视觉惯性里程计(Visual-Inertial Odometry,VIO)在特征高度重复的场合易产生较大误差以及Wi-Fi指纹精确度不高等问题,提出了一种基于VIO和Wi-Fi指纹技术的室内定位方法。该系统运用VIO和Wi-Fi指纹在系统层面的结合,利用Wi-Fi指纹的无漂移、成本低的特点和VIO在一定范围内的高精确度,先进行Wi-Fi指纹粗定位,后进行VIO精定位,将大面积切割成小面积从而有效提高系统室内定位精确度,降低误差。该系统能在精定位的同时进行对指纹数据库的更新。实验结果表明,该系统的定位误差小于单独使用VIO或Wi-Fi指纹的系统,平均误差达0.15 m,能够有效提高定位精度。
Aiming at the problems that in the situations with highly repeated features,visual-inertial odometry( VIO) can easily generate larger error and the accuracy of Wi-Fi fingerprint is not satisfying,a novel system based on VIO and Wi-Fi fingerprint is proposed.Combining VIO and optimized Wi-Fi fingerprint in system level,this system takes advantages of low price of Wi-Fi fingerprint and high accuracy of VIO in certain range.In order to improve the accuracy,it processes coarse location using Wi-Fi fingerprint and then fine location using VIO so as to divide a large area into small ones. The system can also update the Wi-Fi fingerprint database when doing the fine location.Experiment results show that the proposed system has a lower localization error( mean error to 0.15 m) compared with that using VIO or Wi-Fi fingerprint merely.The performance of comprehensive localization can improve user experience in practice.
Aiming at the problems that in the situations with highly repeated features,visual-inertial odometry( VIO) can easily generate larger error and the accuracy of Wi-Fi fingerprint is not satisfying,a novel system based on VIO and Wi-Fi fingerprint is proposed.Combining VIO and optimized Wi-Fi fingerprint in system level,this system takes advantages of low price of Wi-Fi fingerprint and high accuracy of VIO in certain range.In order to improve the accuracy,it processes coarse location using Wi-Fi fingerprint and then fine location using VIO so as to divide a large area into small ones. The system can also update the Wi-Fi fingerprint database when doing the fine location.Experiment results show that the proposed system has a lower localization error( mean error to 0.15 m) compared with that using VIO or Wi-Fi fingerprint merely.The performance of comprehensive localization can improve user experience in practice.
引文
[1]GUAN T,FANG L,DONG W et al.Robust,cost-effective and scalable localization in large indoor areas[J].Computer Networks,2017,120(9):43-55.
[2]IBRAHIM M,MOSELHI O.Inertial measurement unit based indoor localization for construction applications[J].Automation in Construction,2016,71(11):13-20.
[3]VIDAL J,LIN C.Simple and robust localization system using ceiling landmarks and infrared light[C]//Proceedings of 12th IEEE International Conference on Control and Automation(ICCA).Kathmandu:IEEE,2016:583-587.
[4]KIM K,KWON J,LEE C,et al.Accurate indoor location tracking exploiting ultrasonic reflections[J].IEEE Sensors Journal,2016,16(24):9075-9088.
[5]PRADHAN A,ERGEN E,AKINCI B.Technological assessment of radio frequency identification technology for indoor localization[J].Journal of Computing in Civil Engineering,2009,23(4):230-238.
[6]刘洺辛,孙建利.基于能效的WLAN室内定位系统模型设计与实现[J].仪器仪表学报,2014,35(5):1169-1178.
[7]HE S,CHAN S.Wi-Fi fingerprint-based indoor positioning:recent advances and comparisons[J].IEEE Communications Surveys&Tutorials,2016,18(1):466-490.
[8]ZHANG Y,LU L,WANG Y,et al.WLAN indoor localization method using angle estimation[J].International Journal of E-lectronics and Communications,2017,76(6):11-17.
[9]王旭东,胡晴晴,吴楠.高精度室内可见光定位算法[J].光电子激光,2015,26(5):862-868.
[10]杜太行,李娟妹,江春冬,等.平台侧位置指纹定位系统中接收端问题的优化[J].电讯技术,2017,57(8):950-956.
[11]EGODAGAMAGE R,TUCERYAN M.A collaborative augmented reality framework based on distributed visual SLAM[C]//Proceedings of 2017 International Conference on Cyberworlds(CW).Chester:IEEE,2017:25-32.
[12]WINTERHALTER W,FLECKENSTEIN F,STEDER B,et al.Accurate indoor localization for RGB-D smartphones and tablets given 2D floor plans[C]//Proceedings of 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS).Hamburg:IEEE,2015:3138-3143.
[13]AMADOR A,CANALS M.Design and development of an instrumented drifter for lagrangian measurements of inertial particle dynamics in breaking waves[J].IEEE Journal of Oceanic Engineering,2016,41(1):82-93.
[14]路丹晖.融合视觉与惯性导航的机器人自主定位[D].杭州:浙江大学,2012.
[15]DO T,LIU R,YUEN C,et al.Personal dead reckoning using IMU mounted on upper torso and inverted pendulum model[J].IEEE Sensors Journal,2016,16(21):7600-7608.
[16]CHEN Z,ZHU Q,SOH C Y.Smartphone inertial sensorbased indoor localization and tracking with i Beacon corrections[J].IEEE Transactions on Industrial Informatics,2016,12(4):1540-1549.
[17]LI M,MOURIKIS A.I.High-precision,consistent EKF-based visual-inertial odometry[J].The International Journal of Robotics Research,2013,32(6):690-711.
[18]ATIA M M,NOURELDIN A,KORENBERG M J.Dynamic online-calibrated radio maps for indoor positioning in wireless local area networks[J].IEEE Transactions on Mobile Computing,2013,12(9):1774-1787.
[19]WANG H,SEN S,ELGOHARY A,et al.No need to wardrive:unsupervised indoor localization[C]//Proceedings of the 10th International Conference on Mobile Systems,Applications,and Services.Low Wood Bay:ACM,2012:197-210.
[2]IBRAHIM M,MOSELHI O.Inertial measurement unit based indoor localization for construction applications[J].Automation in Construction,2016,71(11):13-20.
[3]VIDAL J,LIN C.Simple and robust localization system using ceiling landmarks and infrared light[C]//Proceedings of 12th IEEE International Conference on Control and Automation(ICCA).Kathmandu:IEEE,2016:583-587.
[4]KIM K,KWON J,LEE C,et al.Accurate indoor location tracking exploiting ultrasonic reflections[J].IEEE Sensors Journal,2016,16(24):9075-9088.
[5]PRADHAN A,ERGEN E,AKINCI B.Technological assessment of radio frequency identification technology for indoor localization[J].Journal of Computing in Civil Engineering,2009,23(4):230-238.
[6]刘洺辛,孙建利.基于能效的WLAN室内定位系统模型设计与实现[J].仪器仪表学报,2014,35(5):1169-1178.
[7]HE S,CHAN S.Wi-Fi fingerprint-based indoor positioning:recent advances and comparisons[J].IEEE Communications Surveys&Tutorials,2016,18(1):466-490.
[8]ZHANG Y,LU L,WANG Y,et al.WLAN indoor localization method using angle estimation[J].International Journal of E-lectronics and Communications,2017,76(6):11-17.
[9]王旭东,胡晴晴,吴楠.高精度室内可见光定位算法[J].光电子激光,2015,26(5):862-868.
[10]杜太行,李娟妹,江春冬,等.平台侧位置指纹定位系统中接收端问题的优化[J].电讯技术,2017,57(8):950-956.
[11]EGODAGAMAGE R,TUCERYAN M.A collaborative augmented reality framework based on distributed visual SLAM[C]//Proceedings of 2017 International Conference on Cyberworlds(CW).Chester:IEEE,2017:25-32.
[12]WINTERHALTER W,FLECKENSTEIN F,STEDER B,et al.Accurate indoor localization for RGB-D smartphones and tablets given 2D floor plans[C]//Proceedings of 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS).Hamburg:IEEE,2015:3138-3143.
[13]AMADOR A,CANALS M.Design and development of an instrumented drifter for lagrangian measurements of inertial particle dynamics in breaking waves[J].IEEE Journal of Oceanic Engineering,2016,41(1):82-93.
[14]路丹晖.融合视觉与惯性导航的机器人自主定位[D].杭州:浙江大学,2012.
[15]DO T,LIU R,YUEN C,et al.Personal dead reckoning using IMU mounted on upper torso and inverted pendulum model[J].IEEE Sensors Journal,2016,16(21):7600-7608.
[16]CHEN Z,ZHU Q,SOH C Y.Smartphone inertial sensorbased indoor localization and tracking with i Beacon corrections[J].IEEE Transactions on Industrial Informatics,2016,12(4):1540-1549.
[17]LI M,MOURIKIS A.I.High-precision,consistent EKF-based visual-inertial odometry[J].The International Journal of Robotics Research,2013,32(6):690-711.
[18]ATIA M M,NOURELDIN A,KORENBERG M J.Dynamic online-calibrated radio maps for indoor positioning in wireless local area networks[J].IEEE Transactions on Mobile Computing,2013,12(9):1774-1787.
[19]WANG H,SEN S,ELGOHARY A,et al.No need to wardrive:unsupervised indoor localization[C]//Proceedings of the 10th International Conference on Mobile Systems,Applications,and Services.Low Wood Bay:ACM,2012:197-210.