| 摘要: |
| 基于人工磁场的室内定位技术具有高穿透性、不受非视距影响等优势，对室内遮蔽定位场景下消防救灾、特种救援具有巨大的应用潜力。然而，传统人工磁场定位方法存在相对位置信息与姿态信息耦合问题，易使定位解算出现定位误差增大与解算收敛困难的情况。基于此，提出了一种不受姿态影响的人工磁场定位方法，基于频分复用的多源测量机制有效解耦姿态信息。同时，该方法利用迭代最小二乘优化求解观测方程，以最小化状态量和观测量之差为目标在搜索空间内持续迭代，实现了计算复杂度低、定位精度高及收敛速度快的位置反演解算。在14.4 m2的室内环境中进行了实测实验，水平平均定位误差为0.48 m。实验验证了不受姿态影响的迭代最小二乘定位解算方法的可行性，可为避开姿态影响的人工磁场定位技术提供技术与实现思路。 |
| 关键词: 人工磁场定位 不受姿态影响 迭代最小二乘 室内定位 频分复用 |
| DOI： |
|
| 基金项目:国家自然科学基金青年科学基金（42204048）；中国科学院空天信息创新研究院科学与颠覆性技术研究基金（2024-AIRCAS-SDTP-09） |
|
| Attitude-independent artificial magnetic field positioning method |
| WANG Guan,ZHANG Wenchao,WEI Dongyan,YUAN Hong,WU Haitao |
| (Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100094, China; School of Electronic, Electrical and Communication Engineering, University of Chinese Academy of Sciences, Beijing 100049, China) |
| Abstract: |
| Indoor positioning technology based on artificial magnetic fields offers significant advantages in terms of high penetration and robustness to non-line-of-sight conditions, making it highly applicable to scenarios such as fire rescue and specialized operations in obstructed indoor environments. However, current artificial magnetic field positioning methods face challenges due to the coupling between relative position information and attitude information, leading to increased positioning errors and difficulties in solution convergence. To address these issues, an attitude-independent artificial magnetic field positioning method is proposed, which uses a frequency division multiplexing-enabled multi-source measurement framework to effectively decouple pose-related information. Meanwhile, this method uses iterative least squares optimization to solve the observation equations, aiming to minimize the difference between state variables and observations through continuous iterations within the search space. This approach achieves low computational complexity, high positioning accuracy, and fast convergence for position inversion. The experiment is conducted in a 14.4-square-meter indoor environment, and the average horizontal positioning error is 0.48 m. The experiment validates the feasibility of the proposed iterative least squares positioning method and provides technical and implementation insights for artificial magnetic field positioning technology that avoids attitude influence. |
| Key words: Artificial magnetic field positioning Attitude-independent Iterative least squares Indoor positioning Frequency division multiplexing |
