Abstract
Under the navigational process of simultaneous beacon-calibrating and target-positioning, the real-time positioning and calibrating accuracy in indoor scenarios is significantly limited. To solve it, a novel Simultaneous Calibration and Localization (SCAL) algorithm framework for indoor scenarios is proposed. The proposed framework is mainly divided into the Target Localization and Beacon Calibration (TLBC) and the Global Optimization (GO) section: in the TLBC section, under the typical distributed beacon layout, a processing mechanism for synchronously locating the target and calibrating beacons is proposed; in GO section, parallel to TLBC section, a global optimization method based on Geometric Dilution of Precision based on Error-propagation (EGDOP) model is further proposed, and it can utilize the geometric trajectory of target and positioning error of target and beacons to efficiently and simultaneously optimize the positioning of target trajectory and beacons from TLBC section. The numerical simulation results show that the improvement of the GO section on the positioning performance is verified. Compared with the SCAL algorithm based on backward processing with inverse trajectory, the proposed framework has improved the accuracy of target and beacon positioning by 39.06% and 58.01%, respectively, and accuracy of positioning reaches 0.2557m and 0.2437m, respectively, in an actual indoor positioning scene.
Highlights
Nowadays, with the coming of the Internet of Everything era people’s demand for high-precision indoor position increases significantly [1], [4]
2) In the Global Optimization (GO) Section, we proposed a Geometric Dilution of Precision based on Error-propagation (EGDOP) model to demonstrate the mechanism of positioning error propagation between target and beacons, and a global optimization algorithm based on EGDOP is further performed on target positioning and beacon calibrating
In the GO section parallel to the Target Localization and Beacon Calibration (TLBC) section as in Fig.3, the target trajectory is screened based on the EGDOP model, and the position of the target and beacon is simultaneously optimized by the GO algorithm
Summary
With the coming of the Internet of Everything era people’s demand for high-precision indoor position increases significantly [1], [4]. In [15] a method of SCAL based on multiple Ultrasonic Local Positioning Systems (ULPSs) is proposed, which calibrates and coincides coordinate systems of different sub-beacon groups by moving target trajectory to simultaneously perform calibration of the entire beacon system and positioning of a target, and global optimization of backward processing on inverse trajectory only perform well on the calibration of the final part of beacon system. 2) In the GO Section, we proposed a Geometric Dilution of Precision based on Error-propagation (EGDOP) model to demonstrate the mechanism of positioning error propagation between target and beacons, and a global optimization algorithm based on EGDOP is further performed on target positioning and beacon calibrating.
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