带有NLOS误差补偿的UWB/INS室内融合定位算法研究

针对室内环境中超宽带(Ultra-Wideband,UWB)定位精度易受非视距影响,以及惯性导航系统(Inertial Navigation System,INS)误差随运行时间迅速累积的问题,在无迹卡尔曼滤波的基础上提出了一种带有非视距误差补偿的UWB/INS室内融合定位算法。该算法利用INS预测定位目标的位置信息;采用残差检验法对相邻时刻UWB测距结果进行非视距检测;利用INS预测信息设计了“近似补偿误差”,结合UWB测距信息实现对非视距测量值的误差补偿;利用无迹卡尔曼滤波算法以紧耦合方式融合UWB和INS定位信息,得到融合定位结果。实验结果表明,该算法既能抑制INS的误差累积,又能缓解非视距误差对UWB定位技术的影响,具有较好的定位精度和鲁棒性。

顾及空间分布和NLOS的UWB室内可信定位方法

针对现行室内可信定位存在的三维定位精度低与结果可信度难以定量评估的难点,提出了一种可信超宽带(UWB)室内定位模型。该方法采用无迹卡尔曼滤波和IGG-III抗差理论模型,解决了UWB定位中的非线性化和非视距误差问题;同时,为提高该方法定位结果的可信度,进一步构建了一种兼顾UWB基站空间分布和非视距误差的可信精度评估模型。与现有模型相比,提出的方案可有效实现基于UWB的室内高精度可信定位。仿真和实测数据结果表明:1)与传统最小二乘结果相比,该方法可提高30%~40%的UWB定位精度;2)引入IGG-III抗差模型可提高11%的定位精度;3)非线性化误差对UWB定位精度的影响不尽相同,约为22%~50%;4)提出的可信度评估模型可实时准确评估UWB定位精度。

Review of Ultraviolet Non-Line-of-Sight Communication

With rapid advances of solar blind ultraviolet LED and ultraviolet detecting technology in recent years, ultraviolet communication gradually becomes a research hotspot due to its inherent advantages: low solar background noise, non-line-of-sight(NLOS) and good secrecy. The strong scattering characteristics in atmospheric render ultraviolet waveband the ideal choice for achieving NLOS optical communication. This paper reviews the research history and status of ultraviolet communication both in China and abroad, and especially introduces three main issues of ultraviolet communication: channel model, system analysis and design, light sources and detectors. For each aspect, current open issues and prospective research directions are analyzed.

A new method to determine the gravity field of small bodies from line-of-sight acceleration data

We present a new method to derive line-of-sight acceleration observables from spacecraft radio tracking data. The observables can be used to estimate the mass and gravity of a natural satellite as a spacecraft flyby. The corresponding observation model adapts to one-way and two/three-way tracking modes. As a test case for method validation and application, we estimated the mass and degree two gravity field for the Martian moon Phobos using simulated tracking data when the spacecraft Mars Express flew by Phobos on 2013 December 29. We have a few real tracking data during flyby and they will be used to confirm raw data simulation. The main purpose of this paper is to demonstrate the method of line-of-sight acceleration reduction from raw tracking data and the feasibility to estimate mass and gravity of a natural satellite using this type of observable. This novel method is potentially applicable to planet and asteroid gravity field studies combined with Doppler tracking data.

Comparison of visual effects of FS-LASIK for myopia centered on the coaxially sighted corneal light reflex or the line of sight

AIM：To compare visual quality after femtosecond laser in situ keratomileusis（FS-LASIK）,between the coaxially sighted corneal light reflex（CSCLR） group and conventional ablation line of sight（LOS） group.METHODS：In total,243 eyes（122 patients） were treated with centration on the CSCLR（visual axis） and 238 eyes（119 patients） treated with centration on the pupil center（LOS）.Postoperative outcomes [uncorrected visual acuity（UCVA）,best spectacle-corrected visual acuity（BSCVA）],safety index,efficacy index,refractive outcome,ablation center distance from the visual axis,corneal high-order aberrations,subjective discomfort glare and shadowing incidence rate,and contrast sensitivity at 1,3,and 6mo were measured and compared.RESULTS：The mean age was 27.77±7.1y in the CSCLR group and 26.03±7.70 y in the LOS group.Preoperatively,the manifest refraction spherical equivalent（MRSE） was-6.68±2.60 D in the CSCLR group and-6.65±2.68 D in the LOS group.The postoperative UCVA,BSCVA,MRSE（-0.03±0.263 D in the CSCLR group,-0.05±0.265 D in the LOS group）,efficacy index（1.04,1.03）,and safety index（1.09,1.08） were not significantly different between the groups（all P〉0.05）.In total,3% lost one line and more of BSCVA in the CSCLR group,as 9% in the LOS group postoperatively（P〈0.05）.The ablation center deviation was 0.20±0.15 mm from the visual axis（Pentacam system default setting;range,0-0.75 mm） in the CSCLR group,and 0.43±0.22 mm（range,0-1.32 mm） in the LOS group（P〈0.0001）.Statistically significant greater augmentationof total corneal higher-order aberrations（0.15±0.10 μm and 0.20±0.12 μm respectively,P=0.03） and vertical and horizontal coma（P〈0.0001） were noted in the LOS group.Subjective discomfort glare and shadowing incidence rates were 8.59% and 17.5% in the CSCLR and LOS groups,respectively（P〈0.05）.The 1-month postoperative contrast sensitivity visual acuity in the CSCLR group was significantly higher than that in the LOS group on contrast（100%,25%,10%） with a dark background,but there was no significant difference between the groups at 3 or 6m.CONCLUSION：Myopic LASIK centered on the CSCLR achieves significantly lower induction of loss of BSCVA,corneal high-order aberrations,and lower risk of subjective discomfort glare and shadowing,and lower decline in early contrast sensitivity by comparison with centration on the LOS,giving advantages in visual quality postoperatively.

Link Budget Design for RF Line-of-Sight via Theoretical Propagation Prediction

Line-of-sight (LOS) link planning condition has been observed to have effects on the atmospheric factor which cause crucial signal loss. The main objective of the planning was to improve a set of a link using point to point condition to assist the performance in emerging its strategy for handling the fixed WLAN service. The purpose of this paper is to provide a quick description of various propagation loss mechanisms on Link Budget Tool (LBT). LBT is customized to create point to point link for local area network (LAN) through radio frequency range operating between 2.400 GHz and 5.800 GHz. This software is able to define the effect of signal loss and expected performances according to the distances between link propagation conditions based on a number of system parameters.

Efficiency Effect of Obstacle Margin on Line-of-Sight in Wireless Networks

Line-of-sight clarity and assurance are essential because they are considered the golden rule in wireless network planning,allowing the direct propagation path to connect the transmitter and receiver and retain the strength of the signal to be received.Despite the increasing literature on the line of sight with different scenarios,no comprehensive study focuses on the multiplicity of parameters and basic concepts that must be taken into account when studying such a topic as it affects the results and their accuracy.Therefore,this research aims to find limited values that ensure that the signal reaches the future efficiently and enhances the accuracy of these values’results.We have designed MATLAB simulation and programming programs by Visual Basic.NET for a semi-realistic communication system.It includes all the basic parameters of this system,taking into account the environment’s diversity and the characteristics of the obstacle between the transmitting station and the receiving station.Then we verified the correctness of the system’s work.Moreover,we begin by analyzing and studying multiple and branching cases to achieve the goal.We get several values from the results,which are finite values,which are a useful reference for engineers and designers of wireless networks.

UWB channel modeling for indoor line-of-sight environment

SV/IEEE 802.15.3a model has been the standard model for Ultra-wide bandwidth (UWB) indoor non-line-of-sight (NLOS) wireless propagation,but for line-of-sight (LOS) case,it is not well defined. In this paper,a new statistical distribution model exclusively used for LOS environment is proposed based on investigation of the experimental data. By reducing the number of the visible random arriving clusters,the model itself and the parameters estimating of the corresponding model are simplified in comparison with SV/IEEE 802.15.3a model. The simulation result indicates that the proposed model is more accurate in modeling small-scale LOS environment than SV/IEEE 802.15.3a model when considering cumulative distribution functions (CDFs) for the three key channel impulse response (CIR) statistics.

Calculation of Probability of Cloud-Free Lines-of-Sightat Given Heights in Foshan, China

Based on Lund and Shanklin’s work (1972), methods of calculating Probability of Cloud-Free Lines-of-Sight (PCFLOS), Persistence Probability of Cloud-Free Lines-of-Sight (PPCFLOS) and Recurrence Probability of Cloud-free Lines-of-Sight (RPCFLOS) at given heights are presented. PCFLOS, PPCFLOS and RPCFLOS are calculated in Foshan, China by conventional observation data from 1961 to 1990. The conclusions are: (1) The higher the elevations, the smaller the PCFLOS and the larger the view angles, the larger the PCFLOS. (2) PPCFLOS and RPCFLOS decrease with the increase of elevation and the delay of time. (3) RPCFLOS is always equal to or larger than PPCFLOS at lag times.

基于深度学习的UWB NLOS传播影响抑制技术研究

随着智能技术和设备的不断发展,精确定位技术在军事领域的应用越来越广泛,其应用场景涵盖室外和室内环境。全球卫星导航系统定位技术在室外环境中定位精度高,提供信息丰富,应用十分普遍。然而,由于墙壁、树木、玻璃等障碍物的遮挡,其在室内环境中的定位精度明显下降。超宽带技术以其定位精度高、时空分辨率强、传输速率快、成本低而显示出明显的优势。在室内环境中,各种障碍物使超宽带系统的基站和标签之间的传播通道被阻挡,由于超宽带信号的非视距传播现象,超宽带系统的定位精度明显下降。文中基于深度学习技术,提出了一种深度神经网络用于超宽带非视距传播影响抑制,该深度神经网络兼具ResNet网络和Non-local模块的优点,既可防止网络层数增加时网络性能不升反降的问题,也可捕获输入数据的全局特征,建立超宽带系统原始信道脉冲响应和测距误差之间的映射关系。相关实验结果显示,该方法可将超宽带系统在非视距传播条件下的测距平均绝对误差从0.1242 m降低至0.0681 m。与传统方法相比,该方法可消除人工统计超宽带信号波形特征耗费大量时间的缺点,可进一步提高超宽带系统在非视距传播条件下的定位精度,具有鲁棒性强、应用范围广的优点,可为军事领域室内高精度定位提供技术支撑。

Line-of-Sight MIMO for Next-Generation Microwave Transmission Systems

Line-of-sight MIMQ （LoS MIMO） is not applicable in scattering wireless transmission scenarios, but it may be applied in LoS microwave transmission scenarios if antenna spacing （within transmit and/or receive arrays） is suitable and there is one hop distance. LoS MIMQ can improve channel capacity and performance of a transmission system. In this paper, we discuss factors affecting channel capacity and performance in LoS MIMO. We also discuss the feasibility LoS MIMO applications.

Disparity-Based Generation of Line-of-Sight DSM for Image-Elevation Co-Registration to Support Building Detection in Off-Nadir VHR Satellite Images

The integration of optical images and elevation data is of great importance for 3D-assisted mapping applications. Very high resolution (VHR) satellite images provide ideal geo-data for mapping building information. Since buildings are inherently elevated objects, these images need to be co-registered with their elevation data for reliable building detection results. However, accurate co-registration is extremely difficult for off-nadir VHR images acquired over dense urban areas. Therefore, this research proposes a Disparity-Based Elevation Co-Registration (DECR) method for generating a Line-of-Sight Digital Surface Model (LoS-DSM) to efficiently achieve image-elevation data co-registration with pixel-level accuracy. Relative to the traditional photogrammetric approach, the RMSE value of the derived elevations is found to be less than 2 pixels. The applicability of the DECR method is demonstrated through elevation-based building detection (EBD) in a challenging dense urban area. The quality of the detection result is found to be more than 90%. Additionally, the detected objects were geo-referenced successfully to their correct ground locations to allow direct integration with other maps. In comparison to the original LoS-DSM development algorithm, the DECR algorithm is more efficient by reducing the calculation steps, preserving the co-registration accuracy, and minimizing the need for elevation normalization in dense urban areas.

基于两步Kalman滤波的NLoS误差抑制算法

针对超宽带(ultra wide band,UWB)定位中影响定位精度的非视距(non line of sight,NLoS)传播误差问题,提出了一种基于Kalman滤波的NLoS误差二次消除方法.该方法利用NLoS误差与测量误差之间的相互独立性,借助Kalman滤波将NLoS误差从总误差中单独分离出来,对其进行实时估计,并将该NLoS误差估计值作为NLoS误差辨别及测距值修正的依据.通过Kalman滤波对到达时间(time of arrival,TOA)测距值进行二次估计、鉴别及修正以提高TOA测距精度,从而实现室内复杂环境下的UWB精准实时定位.仿真实验结果表明:该方法不仅能够对NLoS误差实现良好的跟踪估计,对视距(line of sight,LoS)/NLoS环境转变也具有较强的灵敏感知能力,同时NLoS误差测距值在应用该方法后的定位性能逼近于LoS环境下的理想状态.

Netro-非视距(Non Line Of Sight)固定无线架构的灵活性

成功地部署一个固定宽带无线(FBW)网络取决于两个关键因素：射频网络规划的灵活性和视距(LOS)／非视距(NLOS)情况。因为在视距(LOS)情况下要求在发射机和接收器之间没有阻挡，运营商在规划和部署一个视距(LOS)的固定宽带无线(FBW)网络时，需面对许多技术和业务上的困难；事实上第……

Locating the position of objects in non-line-of-sight based on time delay estimation

Non-line-of-sight imaging detection is to detect hidden objects by indirect light and intermediary surface（diffuser）.It has very important significance in indirect access to an object or dangerous object detection, such as medical treatment and rescue. An approach to locating the positions of hidden objects is proposed based on time delay estimation. The time delays between the received signals and the source signal can be obtained by correlation analysis, and then the positions of hidden objects will be located. Compared with earlier systems and methods, the proposed approach has some modifications and provides significant improvements, such as quick data acquisition, simple system structure and low cost, and can locate the positions of hidden objects as well： this technology lays a good foundation for developing a practical system that can be used in real applications.

Application of the sun line-of-sight vector in the optimal attitude estimation of deep-space probe

This paper proposed an optimal algorithm using the sun line-of-sight vector to improve the probe attitude estimation accuracy in deep-space mission.Firstly,the elaborate analysis of the attitude estimation error from vector observations was done to demonstrate that the geometric relation between the reference vectors is an important factor which influences the accuracy of attitude estimation.Then,with introduction of the sun line-of-sight vector,the attitude quaternion obtained from the star-sensor was converted into a pair of mutually perpendicular reference vectors perpendicular to the sun vector.The normalized weights were calculated according to the accuracy of the sensors.Furthermore,the optimal attitude estimation in the least squares sense was achieved with the quaternion estimation method.Finally,the results of simulation demonstrated the validity of the proposed optimal algorithm based on the practical data of the Deep Impact mission.

UWB定位中基于XGBoost的NLOS识别方法

NLOS场景下UWB室内定位精度下降,识别出NLOS有助于进一步提升定位精度。针对超宽带定位中非视距识别的问题,提出基于XGBoost的NLOS识别方法。基于XGBoost决策树算法,采用两个层面的数据源对UWB定位中NLOS进行识别:元数据层面,用真实定位场景中采集的UWB CIR数据作为数据源;统计数据层面,将CIR数据经过一定的加工,得到几个关键的信号特征参数作为数据源。两组实验结果表明,XGBoost算法在元数据和统计数据上识别精确度分别达到91%和92%。UWB定位中XGBoost算法能显著提高识别NLOS信号的准确度。

Characterization of Blue-Green Light Non-Line-of-Sight Transmission in Seawater

The blue-green light in the 450 nm to 550 nm band is usually used in underwater wireless optical communication (UWOC). The blue-green light transmission in seawater is scattered by the seawater effect and can achieve communication in non-line-of-sight (NLOS) transmission mode. Compared to line-of-sight (LOS) transmission, NLOS transmission does not require alignment and can be adapted to various underwater environments. The scattering coefficients of seawater at different depths are different, which makes the scattering of light in different depths of seawater different. In this paper, the received optical power and bit error rate (BER) of the photodetector (PD) were calculated when the scattering coefficients of blue-green light in seawater vary from large to small with increasing depth for NLOS transmission. The results show that blue-green light in different depths of seawater in the same way NLOS communication at the same distance, the received optical power and BER at the receiver are different, and the received optical power of green light is greater than that of blue light. Increasing the forward scattering coverage of the laser will suppress the received optical power of the PD, so when performing NLOS communication, appropriate trade-offs should be made between the forward scattering coverage of the laser and the received optical power.

加权最小二乘的NLOS UWB室内定位精度分析

针对非视距误差对UWB室内定位影响较大的问题,提出一种加权最小二乘数学算法的NLOS UWB定位算法,实验过程中在基于TDOA算法过程中引入加权最小二乘算法,验证了加权最小二乘算法对UWB室内静态、动态定位精度有较好提升效果。实验结果表明:新算法对UWB静态定位X方向、Y方向RMS值分别提升49.6%、49.4%,STD值分别提升45.8%、38.0%;对UWB动态定位X方向、Y方向RMS值分别提升51.7%、55.2%,STD值分别提升49.6%、53.1%,证明了加权最小二乘算法在NLOS情景下UWB室内定位的可行性。

基于改进SHKF算法的UWB/IMU组合定位方法

针对复杂环境下超宽带(UWB)无线定位系统存在非视距(NLOS)及随机误差的问题,提出一种基于改进Sage-Husa卡尔曼滤波算法(SHKF)的UWB/IMU组合定位方法。首先,设计了一种基于概率密度的提升树,将UWB/IMU特征数据的概率分布密度引入提升树的损失函数中,鉴别出NLOS信号;然后,设计了一种改进SHKF算法,根据新息变化趋势定义自适应因子,实时调整对新息误差修正的策略以调节历史噪声对当前定位的影响,进而提升UWB/IMU组合定位的稳定性和精度。实验结果表明,所提方法将NLOS信号鉴别精度提升至99.12%,定位均方根误差降低至4.30 cm,提升了复杂环境下UWB/IMU组合系统定位精度。