Pseudolites to Support Location Services in Smart Cities: Review and Prospects

Liu, Tong; Liu, Jian; Wang, Jing; Zhang, Heng; Zhang, Bing; Ma, Yongchao; Sun, Mengfei; Lv, Zhiping; Xu, Guochang

doi:10.3390/smartcities6040096

Cited by 3 publications

(1 citation statement)

References 154 publications

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“…Pseudolites are transmitters that can emit navigation signals to improve GNSS performance or to provide navigation service independently [1][2][3][4][5][6][7]. An intelligent pseudolite based on high-altitude balloons (IPBs) is a type of novel air-based pseudolite that utilizes a high-altitude balloon as a platform.…”

Section: Introductionmentioning

confidence: 99%

IPCB: Intelligent Pseudolite Constellation Based on High-Altitude Balloons

Qu,

Wang,

Pan

et al. 2024

Electronics

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IPCBs (Intelligent Pseudolite Constellations based on high-altitude balloons) are a novel type of air-based pseudolite application with many advantages. Compared with ground-based pseudolites and traditional air-based pseudolites, IPCBs have a wider coverage and a lower energy requirement. Compared with LEO satellite constellations, IPCBs have a stronger signal, a lower cost, and a shorter deployment period. These merits give promising potential to IPCBs. In IPCB applications, one of the key factors is geometry configuration, which is deeply influenced by the balloon’s unique features. The basic idea of this paper is to pursue a strategy to improve IPCB geometry performance by using diverse winds at different altitudes and balloons’ capability of altering flight altitude intelligently. Starting with a brief introduction to IPCBs, this paper defines an indicator to assess IPCB geometry performance, an approach to adjust IPCB geometry configuration and an IPCB geometry configuration planning algorithm. Next, a series of simulations are implemented with an IPCB composed of six pseudolites in winds with/without a quasi-zero wind layer. Some IPCB geometry configurations are analyzed, and their geometry performances are compared. Simulation results show the effectiveness of the proposed algorithm and the influence of the quasi-zero wind layer on IPCB performance.

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Section: Introductionmentioning

confidence: 99%

IPCB: Intelligent Pseudolite Constellation Based on High-Altitude Balloons

Qu,

Wang,

Pan

et al. 2024

Electronics

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Tightly Coupled LIDAR/IMU/UWB Fusion via Resilient Factor Graph for Quadruped Robot Positioning

Kuang,

Hu,

Ouyang

et al. 2024

Remote Sensing

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Continuous accurate positioning in global navigation satellite system (GNSS)-denied environments is essential for robot navigation. Significant advances have been made with light detection and ranging (LiDAR)-inertial measurement unit (IMU) techniques, especially in challenging environments with varying lighting and other complexities. However, the LiDAR/IMU method relies on a recursive positioning principle, resulting in the gradual accumulation and dispersion of errors over time. To address these challenges, this study proposes a tightly coupled LiDAR/IMU/UWB fusion approach that integrates an ultra-wideband (UWB) positioning technique. First, a lightweight point cloud segmentation and constraint algorithm is designed to minimize elevation errors and reduce computational demands. Second, a multi-decision non-line-of-sight (NLOS) recognition module using information entropy is employed to mitigate NLOS errors. Finally, a tightly coupled framework via a resilient mechanism is proposed to achieve reliable position estimation for quadruped robots. Experimental results demonstrate that our system provides robust positioning results even in LiDAR-limited and NLOS conditions, maintaining low time costs.

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A Fusion Localization System for Security Robots Based on Millimeter Wave Radar and Inertial Sensors

Zheng,

Sun,

2024

Sensors

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In smoggy and dusty environments, vision- and laser-based localization methods are not able to be used effectively for controlling the movement of a robot. Autonomous operation of a security robot can be achieved in such environments by using millimeter wave (MMW) radar for the localization system. In this study, an approximate center method under a sparse point cloud is proposed, and a security robot localization system based on millimeter wave radar is constructed. To improve the localization accuracy of the robot, inertial localization of the robot is integrated with MMW radar. Based on the concept of inertial localization, the state equation for the motion principle of the robot is deduced. According to principle of MMW localization, the measurement equation is derived, and a kinematics model of the robot is constructed. Further, by applying the Kalman filtering algorithm, a fusion localization system of the robot based on MMWs and inertial localization is proposed. The experimental results show that with iterations of the filtering algorithm, the gain matrix converges gradually, and the error of the fusion localization system decreases, leading to the stable operation of the robot. Compared to the localization system with only MMW radar, the average localization error is approximately reduced from 11 cm to 8 cm, indicating that the fusion localization system has better localization accuracy.

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Pseudolites to Support Location Services in Smart Cities: Review and Prospects

Cited by 3 publications

References 154 publications

IPCB: Intelligent Pseudolite Constellation Based on High-Altitude Balloons

IPCB: Intelligent Pseudolite Constellation Based on High-Altitude Balloons

Tightly Coupled LIDAR/IMU/UWB Fusion via Resilient Factor Graph for Quadruped Robot Positioning

A Fusion Localization System for Security Robots Based on Millimeter Wave Radar and Inertial Sensors

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