低成本毫米波雷达的室内自定位方法

柳景斌; 王泽民; 吕轩凡; 李维; 尹斐; 仇宏煜

doi:10.13203/j.whugis20210593

低成本毫米波雷达的室内自定位方法

1.
武汉大学测绘遥感信息工程国家重点实验室, 湖北武汉, 430079

基金项目:

国家重点研发计划 2021YFB2501102

武汉市知识创新专项基础研究项目 2022010801010109

武汉市人工智能创新专项 2023010402040029

深圳市科技计划 JCYJ20210324123611032

详细信息

作者简介:
柳景斌，博士，教授，主要从事室内和室外定位、智能手机导航、室内移动测绘和GNSS/INS/SLAM集成技术研究。jingbin.liu@whu.edu.cn

中图分类号: P228
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出版历程
- 收稿日期: 2022-10-11
- 网络出版日期: 2022-07-21
- 刊出日期: 2023-09-04

Indoor Ego‐Localization Method for Low Cost Millimeter Wave Radar

State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430079, China

摘要

摘要:
毫米波雷达已广泛应用于汽车工业等领域，但其用途主要局限于障碍物或特定任务的环境感知方面。目前将低成本单芯片毫米波雷达用于导航定位领域的研究还较少。首先研究了毫米波雷达的原始数据处理原理，然后设计了一种基于低成本单芯片毫米波雷达的室内自定位方法。该方法利用DBSCAN(density‐based spatial clustering of applications with noise)算法提取质心特征点，通过最近邻准则匹配质心特征点对，构造非线性优化函数以及使用列文伯格‐马夸尔特方法求解定位结果。实验证明, 利用低成本单芯片毫米波雷达可以实时进行室内导航定位解算。在静止条件下，其平均水平定位精度可达亚厘米级(均值为0.82 cm，标准差为0.47 cm); 在动态条件下，其绝对轨迹误差可达0.66 m，平均航向角误差可达4.58°，可以说明低成本毫米波雷达自定位的可行性。最后还讨论了低成本毫米波雷达在导航定位中存在的问题及可行的研究思路。
- 室内自定位 /
- 毫米波雷达数据处理 /
- 毫米波雷达室内定位
Abstract:
Objectives
Millimeter wave radar has been widely used in automotive industry and other fields, but its application is mainly limited to the environmental perception of obstacles or specific tasks. At pres‍ent, there is little research on the application of millimeter wave radar in the field of navigation and positioning.
Methods
This paper first studies the raw data processing principle of millimeter wave radar, and then designs an indoor ego‐localization method which only depends on a low‐cost millimeter wave radar. The process mainly includes extracting centroid feature points using density based spatial clustering of applications with noise(DBSCAN) algorithm, matching centroid feature point pairs through nearest neighbor criterion, constructing nonlinear optimization function and solving positioning results using levenberg marquardt method.
Results and Conclusions
Experiments show that indoor navigation and positioning can be solved in real time by using a low‐cost millimeter wave radar. Under static conditions, the average horizontal positioning accuracy can reach sub centimeter level (mean value is 0.82 cm and standard deviation is 0.47 cm). Under dynamic conditions, the absolute trajectory error can reach 0.66 m and the average head‍ing angle error can reach 4.58°, which shows the feasibility of ego‐localization of low‐cost millimeter wave radar. Finally, this paper discusses the problems and feasible research ideas of low‐cost millimeter wave radar in navigation and positioning.
- indoor ego‐localization /
- millimeter wave radar data processing /
- millimeter wave radar indoor positioning

HTML全文

图 1 毫米波雷达工作流程图

Figure 1. Millimetre Wave Radar Workflow

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图 2 线性调频脉冲信号(振幅‐时间图)

Figure 2. Chirp Signal (Amplitude‐Time Plot)

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图 3 线性调频脉冲信号(频率‐时间图)

Figure 3. Chirp Signal (Frequency‐Time Plot)

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图 4 中频信号示意图

Figure 4. Intermediate Frequency Signal Plot

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图 5 Doppler FFT示意图

Figure 5. Doppler FFT Plot

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图 6 角度估计示意图

Figure 6. Angle of Arrival of Objects

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图 7 CFAR目标检测示意图

Figure 7. CFAR Object Detection Plot

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图 8 毫米波雷达自定位算法流程图

Figure 8. Millimetre Wave Radar Based Ego‑Localization Workflow

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图 9 距离‐速度图

Figure 9. Range‐Velocity Plot

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图 10 恒虚警算法目标提取结果

Figure 10. CFAR Object Detection Results

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图 11 AWR1843 BOOST评估板

Figure 11. AWR1843 BOOST

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图 12 实验场景和实验设备

Figure 12. Experimental Scene and Equipment

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图 13 毫米波雷达原始数据与质心特征点

Figure 13. Millimeter Wave Radar Origin Data and Features

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图 14 静止条件下毫米波雷达自定位结果

Figure 14. Millimeter Wave Radar Ego‑Localization Under the Static Condition

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图 15 手持激光雷达设备(iLocator)

Figure 15. Handheld LiDAR Equipment (iLocator)

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图 16 毫米波雷达的自定位与手持激光雷达设备的定位对比结果

Figure 16. Comparison of Ego‑Localization Results Between Millimetre Wave Radar and Handheld LiDAR Equipment

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表 1 3个场景的绝对轨迹误差和平均航向角误差

Table 1 Absolute Trajectory Error and Average Heading Angle Error of Three Scenes

场景编号绝对轨迹误差/m 平均航向角误差/(°)

场景一 1.30 6.27

场景二 0.66 4.58

场景三 1.87 10.91

下载: 导出CSV

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5.	黄育夫，熊军，习涛. 基于毫米波雷达的空调节能技术研究. 家电科技. 2022(S1): 176-180 . 百度学术