用Transformer修复工业环境下的超宽带定位误差
UWB TDoA Error Correction using Transformers: Patching and Positional Encoding Strategies
- 用所有锚点的原始信道冲激响应输入Transformer修正定位
- 复杂环境中定位精度达0.39米，比基线提升73.6%
- 适合多障碍物、大部分信号为非视距的工业场景
尽管超宽带（UWB）定位系统具有高精度，但在工业环境中因多径效应和非视距（NLOS）条件导致定位不准确。现有时间差到达（TDoA）误差缓解方法通常排除NLOS链路，但该方法会引发几何精度稀释问题，且在多数链路为NLOS时不可行。为此，本文提出一种基于Transformer的TDoA位置修正方法，利用所有可用锚点的原始信道冲激响应（CIR）计算位置修正。我们设计了不同的CIR排序、分块及位置编码策略，并分析其可扩展性与性能提升。基于真实UWB测量实验，该方法在几乎全为NLOS信号的复杂环境中可实现最高0.39米的定位精度，相比TDoA基线提升73.6%。
原文摘要 · Abstract (English)
Despite their high accuracy, UWB-based localization systems suffer inaccuracies when deployed in industrial locations with many obstacles due to multipath effects and non-line-of-sight (NLOS) conditions. In such environments, current error mitigation approaches for time difference of arrival (TDoA) localization typically exclude NLOS links. However, this exclusion approach leads to geometric dilution of precision problems and this approach is infeasible when the majority of links are NLOS. To address these limitations, we propose a transformer-based TDoA position correction method that uses raw channel impulse responses (CIRs) from all available anchor nodes to compute position corrections. We introduce different CIR ordering, patching and positional encoding strategies for the transformer, and analyze each proposed technique's scalability and performance gains. Based on experiments on real-world UWB measurements, our approach can provide accuracies of up to 0.39 m in a complex environment consisting of (almost) only NLOS signals, which is an improvement of 73.6 % compared to the TDoA baseline.
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