Visual-inertial navigation assisted by a single UWB anchor with an unknown position
Abstract Navigation technology, which integrates vision, Inertial Measurement Unit (IMU), and Ultra-Wideband (UWB) sensors in GNSS-denied environments has gained a significant attention. However, inaccurate estimation of UWB anchor positions and improper sensor weighting among heterogeneous sensors...
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| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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SpringerOpen
2025-01-01
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| Series: | Satellite Navigation |
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| Online Access: | https://doi.org/10.1186/s43020-024-00153-6 |
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| _version_ | 1841544216331681792 |
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| author | Haolong Luo Danping Zou Jiansheng Li Ancheng Wang Li Wang Zidi Yang Guangyun Li |
| author_facet | Haolong Luo Danping Zou Jiansheng Li Ancheng Wang Li Wang Zidi Yang Guangyun Li |
| author_sort | Haolong Luo |
| collection | DOAJ |
| description | Abstract Navigation technology, which integrates vision, Inertial Measurement Unit (IMU), and Ultra-Wideband (UWB) sensors in GNSS-denied environments has gained a significant attention. However, inaccurate estimation of UWB anchor positions and improper sensor weighting among heterogeneous sensors significantly impairs the positioning accuracy and robustness of Visual-Inertial-UWB (VIU) systems. To accurately and rapidly estimate the UWB anchor positions, we employed the robust ridge nonlinear least-squares method to improve the accuracy and reliability of the estimated UWB anchor position. Additionally, we proposed a simple and effective method to assess the accuracy of the UWB anchor position using the geometric dilution precision principle, which facilitates rapid and accurate estimation of the UWB anchor position. Furthermore, we designed a method to calculate the estimated UWB anchor position error in real-world settings. Finally, we proposed a nonlinear optimization method with dynamically adaptive weighting based on the HELMERT variance component estimation principle, which assigns appropriate weights to heterogeneous sensors. To validate the feasibility and effectiveness of the proposed method, comprehensive simulations and real-world experiments were conducted. First, using Monte Carlo simulation and real-world experiments, we validated the effectiveness of the proposed methods for UWB anchor position and its accuracy estimation. Then, we conducted ablation experiments utilizing the open-source VIRAL and real-world datasets. The experimental results demonstrate that the proposed method exhibits superior positioning accuracy and robustness in contrast to the open-source VINS-MONO and VIR-SLAM methods. |
| format | Article |
| id | doaj-art-d9c454ccc749406e9e836a2df61ed18b |
| institution | Kabale University |
| issn | 2662-9291 2662-1363 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | SpringerOpen |
| record_format | Article |
| series | Satellite Navigation |
| spelling | doaj-art-d9c454ccc749406e9e836a2df61ed18b2025-01-12T12:43:34ZengSpringerOpenSatellite Navigation2662-92912662-13632025-01-016112110.1186/s43020-024-00153-6Visual-inertial navigation assisted by a single UWB anchor with an unknown positionHaolong Luo0Danping Zou1Jiansheng Li2Ancheng Wang3Li Wang4Zidi Yang5Guangyun Li6School of Geospatial Information, Information Engineering UniversityShanghai Key Laboratory of Navigation and Location Based Services, Shanghai Jiao Tong UniversitySchool of Geospatial Information, Information Engineering UniversitySchool of Geospatial Information, Information Engineering UniversitySchool of Geospatial Information, Information Engineering UniversitySchool of Geospatial Information, Information Engineering UniversitySchool of Geospatial Information, Information Engineering UniversityAbstract Navigation technology, which integrates vision, Inertial Measurement Unit (IMU), and Ultra-Wideband (UWB) sensors in GNSS-denied environments has gained a significant attention. However, inaccurate estimation of UWB anchor positions and improper sensor weighting among heterogeneous sensors significantly impairs the positioning accuracy and robustness of Visual-Inertial-UWB (VIU) systems. To accurately and rapidly estimate the UWB anchor positions, we employed the robust ridge nonlinear least-squares method to improve the accuracy and reliability of the estimated UWB anchor position. Additionally, we proposed a simple and effective method to assess the accuracy of the UWB anchor position using the geometric dilution precision principle, which facilitates rapid and accurate estimation of the UWB anchor position. Furthermore, we designed a method to calculate the estimated UWB anchor position error in real-world settings. Finally, we proposed a nonlinear optimization method with dynamically adaptive weighting based on the HELMERT variance component estimation principle, which assigns appropriate weights to heterogeneous sensors. To validate the feasibility and effectiveness of the proposed method, comprehensive simulations and real-world experiments were conducted. First, using Monte Carlo simulation and real-world experiments, we validated the effectiveness of the proposed methods for UWB anchor position and its accuracy estimation. Then, we conducted ablation experiments utilizing the open-source VIRAL and real-world datasets. The experimental results demonstrate that the proposed method exhibits superior positioning accuracy and robustness in contrast to the open-source VINS-MONO and VIR-SLAM methods.https://doi.org/10.1186/s43020-024-00153-6Geometric dilution precisionHelmert variance component estimationNavigationRobust ridge estimationUWB anchorVisual-inertial-UWB |
| spellingShingle | Haolong Luo Danping Zou Jiansheng Li Ancheng Wang Li Wang Zidi Yang Guangyun Li Visual-inertial navigation assisted by a single UWB anchor with an unknown position Satellite Navigation Geometric dilution precision Helmert variance component estimation Navigation Robust ridge estimation UWB anchor Visual-inertial-UWB |
| title | Visual-inertial navigation assisted by a single UWB anchor with an unknown position |
| title_full | Visual-inertial navigation assisted by a single UWB anchor with an unknown position |
| title_fullStr | Visual-inertial navigation assisted by a single UWB anchor with an unknown position |
| title_full_unstemmed | Visual-inertial navigation assisted by a single UWB anchor with an unknown position |
| title_short | Visual-inertial navigation assisted by a single UWB anchor with an unknown position |
| title_sort | visual inertial navigation assisted by a single uwb anchor with an unknown position |
| topic | Geometric dilution precision Helmert variance component estimation Navigation Robust ridge estimation UWB anchor Visual-inertial-UWB |
| url | https://doi.org/10.1186/s43020-024-00153-6 |
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