低成本毫米波雷达的室内自定位方法  

Indoor Ego-Localization Method for Low Cost Millimeter Wave Radar

作　　者：柳景斌 王泽民[1] 吕轩凡 李维 尹斐 仇宏煜 LIU Jingbin;WANG Zemin;LÜXuanfan;LI Wei;YIN Fei;QIU Hongyu(State Key Laboratory of Information Engineering in Surveying,Mapping and Remote Sensing,Wuhan University,Wuhan 430079,China)

机构地区：[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

出　　处：《武汉大学学报（信息科学版）》2023年第9期1399-1408,共10页Geomatics and Information Science of Wuhan University

基　　金：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)。

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。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.

关 键 词：室内自定位 毫米波雷达数据处理 毫米波雷达室内定位 

分 类 号：P228[天文地球—大地测量学与测量工程]