论文标题
使用机会信号对自主系统的相对定位
Relative Positioning of Autonomous Systems using Signals of Opportunity
论文作者
论文摘要
为了获得可靠的操作，下一代自主代理将需要增强的情境感知以及精确的导航能力。实际上，所有现代定位系统使用的全球导航卫星系统（GNSS）信号无法满足这种对提高自主水平和定位的要求，正成为其增殖的决定性因素。 这项工作调查了如何使用已经在环境中可以访问的信号来实现相对定位，并得出了在线开发这些信号以在GNSS挑战区域内定位的程序。所提出的相对定位系统（RPS）探索了大量频带上的信号性能，并衍生了车辆跟踪算法，以使用任意的一组未知参考位置来准确估算时空的轨迹。实验结果证明了RPS的适用性，并研究了其在不同参数值上的性能。
For reliable operation, next generation autonomous agents will need enhanced situational perception as well as precise navigation capabilities. The global navigation satellite system (GNSS) signals that are utilized by practically all modern positioning systems cannot satisfy this requirement for heighten autonomy levels and positioning is becoming a decisive factor for their proliferation. This work investigates how relative positioning can be achieved using signals that are already accessible in the environment, and derives an online procedure for the exploitation of these signals for localization in GNSS-challenged areas. The proposed relative positioning system (RPS) explores the signal properties over a large spectrum of frequency bands, and derives a vehicle tracking algorithm to accurately estimate the vehicle's trajectory in space and time using an arbitrary set of unknown reference positions. Experimental results demonstrate the applicability of RPS and investigate its performance over the different parameter values.
