通信学报2025，Vol.46Issue(12)：104-120,17.DOI:10.11959/j.issn.1000-436x.2025225
LOS/NLOS环境下基于动态状态识别与补偿的SW-FGO目标跟踪方法
SW-FGO target tracking method with dynamic status recognition and compensation in LOS/NLOS environments
摘要
Abstract
To address the degradation of positioning accuracy in complex indoor environments characterized by severe multipath propagation and signal blockage,multidimensional features such as the received signal power difference,the power difference fluctuation and the distance variation rate were first jointly analyzed to construct an environment-adaptive base station(BS)state perception model.Subsequently,a classification-based compensation mechanism was de-signed based on the availability of BSs under Non-line of sight(NLOS)conditions.Finally,a sliding window factor graph optimization(SW-FGO)model was employed,in which ultra-wide band(UWB)distance information,inertial measure-ment unit(IMU)motion information,and compensated reliable BS information were integrated to achieve trajectory tracking of the target.Experimental results demonstrate that the proposed method achieves average errors of 0.099 m and 0.136 m,and root mean square errors of 0.123 m and 0.157 m in the laboratory and underground Parking LOS/NLOS.关键词
超宽带/惯性测量单元/因子图优化/非视距/识别与补偿Key words
UWB/IMU/FGO/NLOS分类
信息技术与安全科学引用本文复制引用
谢良波,殷慧丽,杨小龙,周牧,徐鹏,李琦..LOS/NLOS环境下基于动态状态识别与补偿的SW-FGO目标跟踪方法[J].通信学报,2025,46(12):104-120,17.基金项目
重庆市自然科学基金资助项目(No.CSTB2023NSCQ-MSX0249,No.CSTB2023NSCQ-LZX0126,No.CSTB2023NSCQ-LZX0066) （No.CSTB2023NSCQ-MSX0249,No.CSTB2023NSCQ-LZX0126,No.CSTB2023NSCQ-LZX0066）
重庆市教委科学技术研究基金资助项目(No.KJQN202300615)Chongqing Natural Science Foundation Project(No.CSTB2023NSCQ-MSX0249,No.CSTB2023NSCQ-LZX0126,No.CSTB2023NSCQ-LZX0066),Science and Technology Research Program of Chongqing Municipal Education Commission(No.KJQN202300615) （No.KJQN202300615）
