融合卫星与室内定位技术，解决机器人跨环境导航的定位难题
Bridging the Indoor-Outdoor Gap: Cross-Technology Ranging for Seamless Robot Navigation
- 同步采集GNSS、UWB、WiFi FTM和BLE原始数据，构建高精度基准数据集
- 发现室外与室内定位技术在建筑边界处性能同时下降，但彼此互补
- 适合做多源定位融合、机器人导航系统研发的研究者参考
在室内外环境中移动的机器人仍面临定位不一致的问题。卫星定位和地面测距技术各自在其适用领域表现良好，但在原始测量层面的融合研究较少，且建筑边界正是两类技术性能均下降的区域。本文基于HYMN数据集的初步观察，该数据集在工业场景中对GNSS、超宽带（UWB）、WiFi精细时间测量（FTM）和蓝牙低功耗（BLE）的原始测量进行了毫秒级时间同步，并提供了毫米级真值。文中分析了各区域的测量可用性及测距残差行为。结果显示，两种技术类别具有互补性，而室内外过渡区是其弱点重叠之处。数据集已公开。
原文摘要 · Abstract (English)
Mobile robots that move between outdoor and indoor environments still struggle with consistent positioning. Satellite-based and terrestrial ranging each work well in their home domains, but combining them at the raw measurement level has received little attention, and the building boundary is precisely where both classes degrade. This paper reports preliminary observations from the HYMN dataset, which time-synchronizes raw measurements from GNSS, Ultra-Wideband (UWB), WiFi Fine Time Measurement (FTM), and Bluetooth Low Energy (BLE) against millimeter-level ground truth in an industrial setting. Per-zone measurement availability and ranging-residual behavior are characterised. The two technology classes turn out to be complementary, and the indoor-outdoor transition is where their weaknesses overlap. The dataset is publicly available.
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