利用环境磁场与加速度校正实现郊区车辆高精度定位
Magnetic Field Aided Vehicle Localization with Acceleration Correction
- 构建磁场全局数学映射，结合欧式距离匹配定位
- 通过磁力匹配更新姿态，提升定位连续性
- 用磁定位结果校准车载加速度计偏差，适合低信号场景
本文提出一种利用环境磁场进行车辆定位的新方法。通过建立基于数学函数的磁力场地图结构，结合基于欧氏距离的匹配技术，在郊区环境中实现高精度车辆位置估计。该地图结构确保了磁力场地图的高效性与可扩展性，而基于批量处理的定位方式保障了姿态估计的连续性。此外，我们设计了一条偏置估计流程，利用磁力匹配获得的更新姿态对车载加速度计进行偏差校正。本研究旨在展示磁场作为现有定位方法补充的潜力，尤其适用于全球定位系统（GPS）信号受限或需低成本导航系统的场景。
原文摘要 · Abstract (English)
This paper presents a novel approach for vehicle localization by leveraging the ambient magnetic field within a given environment. Our approach involves introducing a global mathematical function for magnetic field mapping, combined with Euclidean distance-based matching technique for accurately estimating vehicle position in suburban settings. The mathematical function based map structure ensures efficiency and scalability of the magnetic field map, while the batch processing based localization provides continuity in pose estimation. Additionally, we establish a bias estimation pipeline for an onboard accelerometer by utilizing the updated poses obtained through magnetic field matching. Our work aims to showcase the potential utility of magnetic fields as supplementary aids to existing localization methods, particularly beneficial in scenarios where Global Positioning System (GPS) signal is restricted or where cost-effective navigation systems are required.
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