To tackle challenges such as interference and poor accuracy of indoor positioning systems,a novel scheme based on ultra-wide bandwidth(UWB)technology is proposed.First,we illustrate a distance measuring method between...To tackle challenges such as interference and poor accuracy of indoor positioning systems,a novel scheme based on ultra-wide bandwidth(UWB)technology is proposed.First,we illustrate a distance measuring method between two UWB devices.Then,a Taylor series expansion algorithm is developed to detect coordinates of the mobile node using the location of anchor nodes and the distance between them.Simulation results show that the observation error under our strategy is within 15 cm,which is superior to existing algorithms.The final experimental data in the hardware system mainly composed of STM32 and DW1000 also confirms the performance of the proposed scheme.展开更多
In this paper, a compact coplanar epsilon.negative(ENG) antenna is proposed with ultra.wide operation band and small size of 18×11.5 mm2. The proposed antenna is designed based on a coplanar.waveguide(CPW) feedin...In this paper, a compact coplanar epsilon.negative(ENG) antenna is proposed with ultra.wide operation band and small size of 18×11.5 mm2. The proposed antenna is designed based on a coplanar.waveguide(CPW) feeding antenna, and thus the via.free structure is employed to realize the ENG unit cell, which is convenient to tune the frequency of zeroth.order resonance(ZOR) and extends the ZOR bandwidth. The high.order resonant frequencies are achieved and mainly determined by the separate slots that are located between the radiating patch and the ground plane. Adding the left.handed inductance between the radiating patch and ground has slight impact on the high.order resonant frequencies, and then the ultra.wide band is achieved by merging the ZOR bandwidth with the high.order resonant bandwidths. The ground plane primarily works as a matching network for the proposed antenna. Although it generates a low.frequency resonance, the performance is undesirable due to the impedance mismatching. The measured results show that the reflection coefficient, |S11| <.10 d B, is in a wide frequency range from 5.25 to 13 GHz, which covers the upper operation band of UWB communication. Also, the antenna contains relatively stable gains and omni.directional radiation patterns.展开更多
Based on the high positioning accuracy,low cost and low-power consumption,the ultra-wide-band(UWB)is an ideal solution for indoor unmanned aerial vehicle(UAV)localization and navigation.However,the UWB signals are eas...Based on the high positioning accuracy,low cost and low-power consumption,the ultra-wide-band(UWB)is an ideal solution for indoor unmanned aerial vehicle(UAV)localization and navigation.However,the UWB signals are easy to be blocked or reflected by obstacles such as walls and furniture.A resilient tightly-coupled inertial navigation system(INS)/UWB integration is proposed and implemented for indoor UAV navigation in this paper.A factor graph optimization(FGO)method enhanced by resilient stochastic model is established to cope with the indoor challenging scenarios.To deal with the impact of UWB non-line-of-sight(NLOS)signals and noise uncertainty,the conventional neural net-works(CNNs)are introduced into the stochastic modelling to improve the resilience and reliability of the integration.Based on the status that the UWB features are limited,a‘two-phase'CNNs structure was designed and implemented:one for signal classification and the other one for measurement noise prediction.The proposed resilient FGO method is tested on flighting UAV platform under actual indoor challenging scenario.Compared to classical FGO method,the overall positioning errors can be decreased from about 0.60 m to centimeter-level under signal block and reflection scenarios.The superiority of resilient FGO which effectively verified in constrained environment is pretty important for positioning accuracy and integrity for indoor navigation task.展开更多
非视距(Non Line of Sight,NLOS)传播是影响超宽带(Ultra-wide Bandwidth,UWB)定位精度的一个重要因素。针对UWB定位中视距(Line of Sight,LOS)信号数量大于NLOS信号数量所呈现的类别不平衡特点,提出了一种基于类别不平衡学习的NLOS信...非视距(Non Line of Sight,NLOS)传播是影响超宽带(Ultra-wide Bandwidth,UWB)定位精度的一个重要因素。针对UWB定位中视距(Line of Sight,LOS)信号数量大于NLOS信号数量所呈现的类别不平衡特点,提出了一种基于类别不平衡学习的NLOS信号识别方法。该方法通过给NLOS信号和LOS信号赋予不同的误分代价来训练一个带野值的支持向量数据描述(Support Vector Data Description,SVDD)学习器,实现对数量少但重要的NLOS信号的识别。仿真结果表明,当LOS信号数量远大于NLOS信号数量时,该方法对NLOS信号的识别性能优于支持向量机(Support Vector Machine,SVM)。展开更多
提出了一种新的调制方法——标识组合脉冲位置调制(Flag-Compound Pulse Position Modula-tion,FCPPM)。详细阐述了FCPPM调制的原理,比较了单位传信率、带宽效率和信号冗余度,用Matlab对编译码进行了仿真。分析和仿真结果表明,与PPM调...提出了一种新的调制方法——标识组合脉冲位置调制(Flag-Compound Pulse Position Modula-tion,FCPPM)。详细阐述了FCPPM调制的原理,比较了单位传信率、带宽效率和信号冗余度,用Matlab对编译码进行了仿真。分析和仿真结果表明,与PPM调制方式相比,FCPPM调制技术具有单位传信率和带宽效率高等优点;与MPPM调制方式相比,FCPPM调制方式的编译码简单且容易实现。展开更多
基金National Key Research and Development Program of China,No.2018YFC0604404.
文摘To tackle challenges such as interference and poor accuracy of indoor positioning systems,a novel scheme based on ultra-wide bandwidth(UWB)technology is proposed.First,we illustrate a distance measuring method between two UWB devices.Then,a Taylor series expansion algorithm is developed to detect coordinates of the mobile node using the location of anchor nodes and the distance between them.Simulation results show that the observation error under our strategy is within 15 cm,which is superior to existing algorithms.The final experimental data in the hardware system mainly composed of STM32 and DW1000 also confirms the performance of the proposed scheme.
基金supported by the National Natural Science Foundation of China (NNSF) under Grant 61531016National Natural Science Foundation of China (NNSF) under Grant 61271090+1 种基金Sichuan province science and technology support project under Grant 2016GZ0059Sichuan province science and technology support project under Grant 2017GZ0110
文摘In this paper, a compact coplanar epsilon.negative(ENG) antenna is proposed with ultra.wide operation band and small size of 18×11.5 mm2. The proposed antenna is designed based on a coplanar.waveguide(CPW) feeding antenna, and thus the via.free structure is employed to realize the ENG unit cell, which is convenient to tune the frequency of zeroth.order resonance(ZOR) and extends the ZOR bandwidth. The high.order resonant frequencies are achieved and mainly determined by the separate slots that are located between the radiating patch and the ground plane. Adding the left.handed inductance between the radiating patch and ground has slight impact on the high.order resonant frequencies, and then the ultra.wide band is achieved by merging the ZOR bandwidth with the high.order resonant bandwidths. The ground plane primarily works as a matching network for the proposed antenna. Although it generates a low.frequency resonance, the performance is undesirable due to the impedance mismatching. The measured results show that the reflection coefficient, |S11| <.10 d B, is in a wide frequency range from 5.25 to 13 GHz, which covers the upper operation band of UWB communication. Also, the antenna contains relatively stable gains and omni.directional radiation patterns.
基金National Natural Science Foundation of China(Grant No.62203111)the Open Research Fund of State Key Laboratory of Information Engineering in Surveying,Mapping and Remote Sensing,Wuhan University(Grant No.21P01)the Foundation of Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology,Ministry of Education,China(Grant No.SEU-MIAN-202101)to provide fund for conducting experiments。
文摘Based on the high positioning accuracy,low cost and low-power consumption,the ultra-wide-band(UWB)is an ideal solution for indoor unmanned aerial vehicle(UAV)localization and navigation.However,the UWB signals are easy to be blocked or reflected by obstacles such as walls and furniture.A resilient tightly-coupled inertial navigation system(INS)/UWB integration is proposed and implemented for indoor UAV navigation in this paper.A factor graph optimization(FGO)method enhanced by resilient stochastic model is established to cope with the indoor challenging scenarios.To deal with the impact of UWB non-line-of-sight(NLOS)signals and noise uncertainty,the conventional neural net-works(CNNs)are introduced into the stochastic modelling to improve the resilience and reliability of the integration.Based on the status that the UWB features are limited,a‘two-phase'CNNs structure was designed and implemented:one for signal classification and the other one for measurement noise prediction.The proposed resilient FGO method is tested on flighting UAV platform under actual indoor challenging scenario.Compared to classical FGO method,the overall positioning errors can be decreased from about 0.60 m to centimeter-level under signal block and reflection scenarios.The superiority of resilient FGO which effectively verified in constrained environment is pretty important for positioning accuracy and integrity for indoor navigation task.
文摘非视距(Non Line of Sight,NLOS)传播是影响超宽带(Ultra-wide Bandwidth,UWB)定位精度的一个重要因素。针对UWB定位中视距(Line of Sight,LOS)信号数量大于NLOS信号数量所呈现的类别不平衡特点,提出了一种基于类别不平衡学习的NLOS信号识别方法。该方法通过给NLOS信号和LOS信号赋予不同的误分代价来训练一个带野值的支持向量数据描述(Support Vector Data Description,SVDD)学习器,实现对数量少但重要的NLOS信号的识别。仿真结果表明,当LOS信号数量远大于NLOS信号数量时,该方法对NLOS信号的识别性能优于支持向量机(Support Vector Machine,SVM)。
文摘提出了一种新的调制方法——标识组合脉冲位置调制(Flag-Compound Pulse Position Modula-tion,FCPPM)。详细阐述了FCPPM调制的原理,比较了单位传信率、带宽效率和信号冗余度,用Matlab对编译码进行了仿真。分析和仿真结果表明,与PPM调制方式相比,FCPPM调制技术具有单位传信率和带宽效率高等优点;与MPPM调制方式相比,FCPPM调制方式的编译码简单且容易实现。
