{"id":122,"date":"2020-07-11T20:06:49","date_gmt":"2020-07-11T12:06:49","guid":{"rendered":"\/\/www.100wfx.com\/?p=122"},"modified":"2020-07-11T20:06:49","modified_gmt":"2020-07-11T12:06:49","slug":"%e4%b8%bb%e6%b5%81%e7%9a%84%e5%ae%a4%e5%86%85%e5%ae%9a%e4%bd%8d%e6%8a%80%e6%9c%af15%e7%a7%8d%e7%ae%80%e8%a6%81%e4%bb%8b%e7%bb%8d%e5%8f%8a%e5%af%b9%e6%af%94","status":"publish","type":"post","link":"\/\/www.100wfx.com\/indoor\/122.html","title":{"rendered":"\u4e3b\u6d41\u7684\u5ba4\u5185\u5b9a\u4f4d\u6280\u672f15\u79cd\u7b80\u8981\u4ecb\u7ecd\u53ca\u5bf9\u6bd4"},"content":{"rendered":"

UWB\u5b9e\u9a8c\u5ba4\u6536\u96c6\u7684\uff0c\u5bf9\u4e3b\u6d41\u7684\u5ba4\u5185\u5b9a\u4f4d\u6280\u672f\u8fdb\u884c\u7b80\u8981\u4ecb\u7ecd\u3002<\/p>\n

1. \u89c6\u89c9\u5b9a\u4f4d<\/p>\n

\u89c6\u89c9\u5b9a\u4f4d\u7cfb\u7edf\u53ef\u4ee5\u5206\u4e3a\u4e24\u7c7b\uff0c\u4e00\u7c7b\u662f\u901a\u8fc7\u79fb\u52a8\u7684\u4f20\u611f\u5668\uff08\u5982\u6444\u50cf\u5934\uff09\u91c7\u96c6\u56fe\u50cf\u786e\u5b9a\u8be5\u4f20\u611f\u5668\u7684\u4f4d\u7f6e\uff0c\u53e6\u4e00\u7c7b\u662f\u56fa\u5b9a\u4f4d\u7f6e\u7684\u4f20\u611f\u5668\u786e\u5b9a\u56fe\u50cf\u4e2d\u5f85\u6d4b\u76ee\u6807\u7684\u4f4d\u7f6e\u3002\u6839\u636e\u53c2\u8003\u70b9\u9009\u62e9\u4e0d\u540c\u53c8\u53ef\u4ee5\u5206\u4e3a\u53c2\u8003\u4e09\u7ef4\u5efa\u7b51\u6a21\u578b\u3001\u56fe\u50cf\u3001\u9884\u90e8\u7f72\u76ee\u6807\u3001\u6295\u5f71\u76ee\u6807\u3001\u4ed6\u4f20\u611f\u5668\u548c\u65e0\u53c2\u8003\u3002\u53c2\u80033D\u5efa\u7b51\u6a21\u578b\u548c\u56fe\u50cf\u5206\u522b\u662f\u4ee5\u5df2\u6709\u5efa\u7b51\u7ed3\u6784\u6570\u636e\u5e93\u548c\u9884\u5148\u6807\u5b9a\u56fe\u50cf\u8fdb\u884c\u6bd4\u5bf9\u3002\u800c\u4e3a\u63d0\u9ad8\u9c81\u68d2\u6027\uff0c\u53c2\u8003\u9884\u90e8\u7f72\u76ee\u6807\u4f7f\u7528\u5e03\u7f6e\u597d\u7684\u7279\u5b9a\u56fe\u50cf\u6807\u5fd7\uff08\u5982\u4e8c\u7ef4\u7801\uff09\u4f5c\u4e3a\u53c2\u8003\u70b9\uff1b\u6295\u5f71\u76ee\u6807\u5219\u662f\u5728\u53c2\u8003\u9884\u90e8\u7f72\u76ee\u6807\u7684\u57fa\u7840\u4e0a\u5728\u5ba4\u5185\u73af\u5883\u6295\u5f71\u53c2\u8003\u70b9\u3002\u53c2\u8003\u5176\u4ed6\u4f20\u611f\u5668\u5219\u53ef\u4ee5\u878d\u5408\u5176\u4ed6\u4f20\u611f\u5668\u6570\u636e\u4ee5\u63d0\u9ad8\u7cbe\u5ea6\u3001\u8986\u76d6\u8303\u56f4\u6216\u9c81\u68d2\u6027\u3002<\/p>\n

Hile\u548cBorriello\u4f7f\u7528\u7167\u76f8\u624b\u673a\u6bd4\u5bf9\u56fe\u50cf\u548c\u697c\u5c42\u5e73\u9762\u56fe\uff0c\u8fbe\u5230\u4e8630cm\u7684\u5b9a\u4f4d\u7cbe\u5ea6\u3002Sj\u00f6\u4f7f\u7528\u4e00\u4e2a\u4f4e\u5206\u8fa8\u7387\u76f8\u673a\u57fa\u4e8e\u53c2\u8003\u56fe\u50cf\u5b9e\u73b0SLAM(Simultaneous LocalizationAnd Mapping)\u7b97\u6cd5\uff0c\u8fbe\u5230\u4e86\u4e9a\u7c73\u7ea7\u7684\u5b9a\u4f4d\u7cbe\u5ea6\u3002Mulloni\u4f7f\u7528\u6761\u5f62\u7801\u4f5c\u4e3a\u53c2\u8003\u70b9\u6807\u8bb0\uff0c\u5b9e\u73b0\u4e86\u5398\u7c73\u5230\u5206\u7c73\u7ea7\u7684\u5b9a\u4f4d\u7cbe\u5ea6\u3002Tilch\u548cMautz\u4f7f\u7528\u4e00\u4e2a\u79fb\u52a8\u76f8\u673a\u548c\u6fc0\u5149\u4eea\u4f5c\u6295\u5f71\uff0c\u5b9a\u4f4d\u7cbe\u5ea6\u53ef\u8fbe\u5230\u4e9a\u6beb\u7c73\u7ea7\u3002LiuT.\u4f7f\u7528\u4e00\u4e2a6\u81ea\u7531\u5ea6\u60ef\u6027\u6d4b\u91cf\u5355\u5143(Inertial Measurement Unit, IMU)\u548c\u4e24\u4e2a\u6fc0\u5149\u626b\u63cf\u5668\u83b7\u53d6\u4f4d\u7f6e\uff0c\u5e73\u5747\u5b9a\u4f4d\u7cbe\u5ea6\u8fbe\u5230\u884c\u8d70\u8ddd\u79bb\u76841%\u3002<\/p>\n

2. \u7ea2\u5916\u7ebf\u5b9a\u4f4d<\/p>\n

\u7ea2\u5916\u7ebf\u662f\u4e00\u79cd\u6ce2\u957f\u5728\u65e0\u7ebf\u7535\u6ce2\u548c\u53ef\u89c1\u5149\u6ce2\u4e4b\u95f4\u7684\u7535\u78c1\u6ce2\u3002\u57fa\u4e8e\u7ea2\u5916\u7ebf\u7684\u5b9a\u4f4d\u7cfb\u7edf\u53ef\u4ee5\u4e3b\u8981\u5206\u4e3a\u4e24\u7c7b\uff1a\u6709\u6e90\u4fe1\u6807\u3001\u7ea2\u5916\u6210\u50cf\u3002<\/p>\n

\u6709\u6e90\u4fe1\u6807\u662f\u5728\u5ba4\u5185\u653e\u7f6e\u82e5\u5e72\u7ea2\u5916\u63a5\u6536\u673a\uff0c\u540c\u65f6\u5f85\u6d4b\u7269\u643a\u5e26\u4e00\u4e2a\u88c5\u6709\u7ea2\u5916\u53d1\u5c04\u673a\u7684\u7535\u5b50\u6807\u7b7e\u3002\u8be5\u6807\u7b7e\u5468\u671f\u53d1\u9001\u8be5\u5f85\u6d4b\u7269\u7684ID\uff0c\u63a5\u6536\u673a\u63a5\u6536\u5230\u4fe1\u53f7\u540e\u5c06\u6570\u636e\u53d1\u9001\u5230\u6570\u636e\u5e93\u8fdb\u884c\u5b9a\u4f4d\u3002\u8be5\u65b9\u6cd5\u5177\u6709\u4ee3\u8868\u6027\u7684\u662fAT&T\u5b9e\u9a8c\u5ba4\u548c\u5251\u6865\u57281992\u5e74\u8054\u5408\u53d1\u5e03\u7684Active Badge\u7cfb\u7edf\u3002\u8be5\u7cfb\u7edf\u53ef\u4ee5\u8fbe\u52306\u7c73\u7684\u5e73\u5747\u5b9a\u4f4d\u7cbe\u5ea6\u3002<\/p>\n

\u7ea2\u5916\u6210\u50cf\u5219\u662f\u901a\u8fc7\u4f20\u611f\u5668\u91c7\u96c6\u73af\u5883\u4e2d\u81ea\u7136\u7ea2\u5916\u8f90\u5c04\u751f\u6210\u56fe\u50cf\u5b9e\u73b0\u68c0\u6d4b\u884c\u4eba\u6216\u5176\u4ed6\u5f85\u6d4b\u76ee\u6807\u30022011\u5e74\u5fb7\u56fdAmbiplex\u63d0\u4f9b\u57fa\u4e8e\u81ea\u7136\u73af\u5883\u70ed\u8f90\u5c04\u7684\u201cIR.Loc\u201d\u5b9a\u4f4d\u7cfb\u7edf\uff0c\u57fa\u4e8eAOA\u786e\u5b9a\u70ed\u6e90\u7684\u4f4d\u7f6e\uff0c\u53ef\u5b9e\u73b010m\u8303\u56f4\u518520cm\u81f330cm\u7684\u5b9a\u4f4d\u7cbe\u5ea6\u3002<\/p>\n

3. \u6781\u70b9\u5b9a\u4f4d<\/p>\n

\u8be5\u7cfb\u7edf\u901a\u8fc7\u4eea\u5668\u6d4b\u91cf\u5230\u8fbe\u89d2\u6216\u8005\u5230\u8fbe\u65f6\u95f4\u8fdb\u884c\u5b9a\u4f4d\uff0c\u4eea\u5668\u901a\u5e38\u6709\u6fc0\u5149\u8ddf\u8e2a\u4eea\u3001\u5168\u7ad9\u4eea\u548c\u7ecf\u7eac\u4eea\u3002\u5168\u7ad9\u4eea\u7684\u53ef\u8986\u76d6\u8303\u56f4\u901a\u5e38\u4e3a2km\u523010km\uff0c\u4f46\u5176\u8bbe\u5907\u9ad8\u6210\u672c\u3001\u5927\u4f53\u79ef\u4ee5\u53ca\u5bf9\u53ef\u89c6\u8ddd\u7684\u8981\u6c42\u4f7f\u5176\u4e0d\u9002\u7528\u4e8e\u5728\u5ba4\u5185\u5b9a\u4f4d\u4e2d\u63a8\u5e7f\u3002<\/p>\n

NikonMetrology 2011\u5e74\u53d1\u5e03\u7684iGPS(indoor Global Positioning System)\u5b9e\u73b0\u4e86\u57fa\u4e8e\u6fc0\u5149\u7684\u5ba4\u5185\u5de5\u4e1a\u7ea7\u9ad8\u7cbe\u5ea6\u4e09\u7ef4\u5b9a\u4f4d\u3002\u5176\u539f\u7406\u4e0eGPS\u4e0d\u540c\uff0c\u5305\u62ec\u4e0d\u5c11\u4e8e\u4e24\u4e2a\u56fa\u5b9a\u4f4d\u7f6e\u7684\u53d1\u5c04\u5668\u53d1\u5c04\u6247\u5f62\u6fc0\u5149\u675f\u548c\u53c2\u8003\u7ea2\u5916\u8109\u51b2\uff0c\u57fa\u4e8eTDOA\u539f\u7406\u5b9e\u73b0\u5bf9\u63a5\u6536\u673a\u7684\u5b9a\u4f4d\u3002NikonMetrology\u5ba3\u79f0\u8be5\u7cfb\u7edf\u53ef\u5b9e\u73b0\u5728\u5e03\u8bbe4\u81f38\u4e2a\u53d1\u5c04\u5668\u76841200\u5e73\u65b9\u7c73\u7684\u5178\u578b\u6d4b\u8bd5\u73af\u5883\u4e2d\u5b9e\u73b00.2mm\u7684\u4e09\u7ef4\u5b9a\u4f4d\u7cbe\u5ea6\u3002\u4f46\u5176\u9020\u4ef7\u5341\u5206\u6602\u8d35\uff0c\u53ef\u7528\u4e8e\u5de5\u4e1a\u7ea7\u5b9a\u4f4d\u9700\u6c42\uff0c\u4e0d\u9002\u5408\u4e8e\u5927\u4f17\u5e02\u573a\u7814\u7a76\u548c\u63a8\u5e7f\u3002<\/p>\n

4. \u8d85\u58f0\u6ce2\u5b9a\u4f4d<\/p>\n

\u8d85\u58f0\u6ce2\u5b9a\u4f4d\u4e3b\u8981\u91c7\u7528\u53cd\u5c04\u5f0f\u6d4b\u8ddd\u6cd5\uff0c\u901a\u8fc7\u591a\u8fb9\u5b9a\u4f4d\u7b49\u65b9\u6cd5\u786e\u5b9a\u7269\u4f53\u4f4d\u7f6e\uff0c\u7cfb\u7edf\u7531\u4e00\u4e2a\u4e3b\u6d4b\u8ddd\u5668\u548c\u82e5\u5e72\u63a5\u6536\u5668\u7ec4\u6210\uff0c\u4e3b\u6d4b\u8ddd\u4eea\u53ef\u653e\u7f6e\u5728\u5f85\u6d4b\u76ee\u6807\u4e0a\uff0c\u63a5\u6536\u5668\u56fa\u5b9a\u4e8e\u5ba4\u5185\u73af\u5883\u4e2d\u3002\u5b9a\u4f4d\u65f6\uff0c\u5411\u63a5\u6536\u5668\u53d1\u5c04\u540c\u9891\u7387\u7684\u4fe1\u53f7\uff0c\u63a5\u6536\u5668\u63a5\u6536\u540e\u53c8\u53cd\u5c04\u4f20\u8f93\u7ed9\u4e3b\u6d4b\u8ddd\u5668\uff0c\u6839\u636e\u56de\u6ce2\u548c\u53d1\u5c04\u6ce2\u7684\u65f6\u95f4\u5dee\u8ba1\u7b97\u51fa\u8ddd\u79bb\uff0c\u4ece\u800c\u786e\u5b9a\u4f4d\u7f6e\u3002<\/p>\n

Ward\u4e8e1997\u5e74\u5efa\u7acb\u7684ActiveBat\u662f\u8d85\u58f0\u5b9a\u4f4d\u7684\u5148\u9a71\uff0c\u901a\u8fc7\u5927\u91cf\u90e8\u7f72\u63a5\u6536\u8bbe\u5907(720\u4e2a\u6807\u7b7e)\uff0c\u8fbe\u52303cm\u7684\u5b9a\u4f4d\u7cbe\u5ea6\u3002\u8d85\u58f0\u6ce2\u5b9a\u4f4d\u6574\u4f53\u5b9a\u4f4d\u7cbe\u5ea6\u8f83\u9ad8\uff0c\u7ed3\u6784\u7b80\u5355\uff0c\u4f46\u8d85\u58f0\u6ce2\u53d7\u591a\u5f84\u6548\u5e94\u548c\u975e\u89c6\u8ddd\u4f20\u64ad\u5f71\u54cd\u5f88\u5927\uff0c\u4e14\u8d85\u58f0\u6ce2\u9891\u7387\u53d7\u591a\u666e\u52d2\u6548\u5e94\u548c\u6e29\u5ea6\u5f71\u54cd\uff0c\u540c\u65f6\u4e5f\u9700\u8981\u5927\u91cf\u57fa\u7840\u786c\u4ef6\u8bbe\u65bd\uff0c\u6210\u672c\u8f83\u9ad8\u3002<\/p>\n

5. WLAN\u5b9a\u4f4d<\/p>\n

\u57fa\u4e8eIEEE802.11b\u6807\u51c6\u7684\u65e0\u7ebf\u5c40\u57df\u7f51\u5df2\u5728\u4eba\u4eec\u7684\u751f\u6d3b\u573a\u6240\u5927\u91cf\u90e8\u7f72\uff0c\u4f7f\u7528WLAN\u4fe1\u53f7\u5b9a\u4f4d\u7684\u4f18\u52bf\u5728\u4e8e\u4e0d\u9700\u8981\u90e8\u7f72\u989d\u5916\u8bbe\u5907\uff0c\u5b9a\u4f4d\u6210\u672c\u4f4e\uff0c\u4fe1\u53f7\u8986\u76d6\u8303\u56f4\u5927\uff0c\u9002\u7528\u6027\u5f3a\uff0c\u5229\u4e8e\u666e\u53ca\u63a8\u5e7f\u3002<\/p>\n

\u57fa\u4e8eRSSI\u7684\u6307\u7eb9\u5b9a\u4f4d\u6cd5\u662f\u76ee\u524d\u4e3b\u6d41\u7684WLAN\u5b9a\u4f4d\u65b9\u6cd5\uff0c\u5b9a\u4f4d\u7cbe\u5ea6\u53d6\u51b3\u4e8e\u6821\u51c6\u70b9\u7684\u5bc6\u5ea6\uff0c\u4ece2m\u523010m\u4e0d\u7b49\u3002\u540c\u65f6\u57fa\u4e8eTOA\u6d4b\u8ddd\u7684\u5b9a\u4f4d\u65b9\u6cd5\u7531\u4e8e\u591a\u5f84\u6548\u5e94\u548c\u65f6\u949f\u5206\u8fa8\u7387\u4f4e\u5b9a\u4f4d\u6548\u679c\u8f83\u5dee\uff0c\u800c\u57fa\u4e8eRSSI\u6d4b\u8ddd\u7684\u5b9a\u4f4d\u65b9\u6cd5\u7531\u4e8e\u4fe1\u53f7\u8870\u51cf\u4e0e\u8ddd\u79bb\u7684\u5173\u7cfb\u5728\u4e0d\u540c\u73af\u5883\u548c\u8bbe\u5907\u6761\u4ef6\u4e0b\u90fd\u6709\u6539\u53d8\uff0c\u5b9a\u4f4d\u7ed3\u679c\u4e5f\u4e0d\u7406\u60f3\u3002<\/p>\n

6. RFID\u5b9a\u4f4d<\/p>\n

\u5c04\u9891\u8bc6\u522b(RFID)\u662f\u4e00\u79cd\u64cd\u63a7\u7b80\u6613\uff0c\u9002\u7528\u4e8e\u81ea\u52a8\u63a7\u5236\u9886\u57df\u7684\u6280\u672f\uff0c\u5b83\u5229\u7528\u7535\u611f\u548c\u7535\u78c1\u8026\u5408\u7684\u4f20\u8f93\u7279\u6027\uff0c\u5b9e\u73b0\u5bf9\u88ab\u8bc6\u522b\u7269\u4f53\u7684\u81ea\u52a8\u8bc6\u522b\u3002RFID\u5b9a\u4f4d\u7cfb\u7edf\u901a\u5e38\u7531\u7535\u5b50\u6807\u7b7e\u3001\u5c04\u9891\u8bfb\u5199\u5668\u4ee5\u53ca\u8ba1\u7b97\u673a\u6570\u636e\u5e93\u6784\u7ec4\u6210\u3002\u6700\u5e38\u5e94\u7528\u7684\u5b9a\u4f4d\u65b9\u6cd5\u662f\u90bb\u8fd1\u68c0\u6d4b\u6cd5\u3002\u5229\u7528RSSI\u5b9e\u73b0\u591a\u8fb9\u5b9a\u4f4d\u7b97\u6cd5\u4e5f\u53ef\u4e00\u5b9a\u7a0b\u5ea6\u4e0a\u5b9e\u73b0\u8303\u56f4\u4f30\u8ba1\u3002\u6839\u636e\u7535\u5b50\u6807\u7b7e\u662f\u5426\u6709\u6e90\u53ef\u4ee5\u5206\u4e3a\u6709\u6e90RFID\u548c\u65e0\u6e90RFID\u3002<\/p>\n

\u6709\u6e90RFID<\/p>\n

\u6709\u6e90RFID\u7684\u7535\u5b50\u6807\u7b7e\u5305\u542b\u7535\u6c60\uff0c\u56e0\u6b64\u4fe1\u53f7\u4f20\u8f93\u8303\u56f4\u76f8\u6bd4\u4e8e\u65e0\u6e90RFID\u66f4\u5927\uff0c\u8fbe\u523030\u7c73\u4ee5\u4e0a\u3002\u540c\u65f6\u53ef\u4ee5\u5b9e\u73b0\u57fa\u4e8eRSSI\u6d4b\u91cf\u7684\u6307\u7eb9\u5b9a\u4f4d\u3002Seco\u4f7f\u7528\u9ad8\u65af\u8fc7\u7a0b\u63cf\u8ff0RSSI\u5728\u5ba4\u5185\u7684\u4f20\u64ad\u7ed3\u5408\u6307\u7eb9\u5b9a\u4f4d\u7684\u65b9\u6cd5\uff0c\u57281600\u5e73\u65b9\u7c73\u7684\u5b9e\u9a8c\u73af\u5883\u4e2d\u91c7\u752871\u4e2aRFID\u6807\u7b7e\u5b9e\u73b050%\u5b9a\u4f4d\u8bef\u5dee1.5m\u3002<\/p>\n

\u65e0\u6e90RFID<\/p>\n

\u65e0\u6e90RFID\u7cfb\u7edf\u53ea\u4f9d\u8d56\u7535\u611f\u8026\u5408\uff0c\u56e0\u6b64\u6ca1\u6709\u7535\u6c60\u3002\u76f8\u6bd4\u6709\u6e90RFID\uff0c\u4f53\u79ef\u66f4\u5c0f\uff0c\u8010\u7528\u6027\u66f4\u9ad8\uff0c\u6210\u672c\u66f4\u4f4e\u3002\u65e0\u6e90RFID\u5b9a\u4f4d\u7cfb\u7edf\u591a\u4f7f\u7528\u90bb\u8fd1\u63a2\u6d4b\u6cd5\u5b9e\u73b0\u5b9a\u4f4d\u3002<\/p>\n

7. \u8d85\u5bbd\u5e26\u5b9a\u4f4d<\/p>\n

\u8d85\u5bbd\u5e26\u5b9a\u4f4d\u7cfb\u7edf\u901a\u5e38\u5305\u62ecUWB\u63a5\u6536\u5668\u3001\u53c2\u8003\u6807\u7b7e\u548c\u5176\u4ed6\u6807\u7b7e\u3002\u8d85\u5bbd\u5e26\u6280\u672f\u901a\u8fc7\u53d1\u9001\u7eb3\u79d2\u7ea7\u53ca\u5176\u4ee5\u4e0b\u7684\u8d85\u7a84\u8109\u51b2\u6765\u4f20\u8f93\u6570\u636e\uff0c\u53ef\u4ee5\u83b7\u5f97GHz\u7ea7\u7684\u6570\u636e\u5e26\u5bbd\uff0c\u53d1\u5c04\u529f\u7387\u8f83\u4f4e\uff0c\u65e0\u8f7d\u6ce2\u3002\u56e0\u4e3a\u5176\u9ad8\u5e26\u5bbd\uff0c\u7406\u8bba\u4e0a\u57fa\u4e8eTOA\u6216TDOA\u65b9\u6cd5\u5b9e\u73b0\u5398\u7c73\u7ea7\u7684\u5b9a\u4f4d\u3002Ubisense\u662f\u53d1\u5e03\u4e8e2011\u5e74\u91c7\u7528TDOA\u548cAOA\u7684\u5ba4\u5185\u5b9a\u4f4d\u7cfb\u7edf\uff0c\u5b9a\u4f4d\u7cbe\u5ea6\u53ef\u8fbe15cm\uff0c\u6d4b\u8ddd\u8303\u56f4\u8fbe\u523050m\u3002\u4f46UWB\u7cfb\u7edf\u8f83\u9ad8\u7684\u7cfb\u7edf\u5efa\u8bbe\u6210\u672c\u963b\u788d\u4e86\u5176\u666e\u53ca\u63a8\u5e7f\u3002<\/p>\n

8. \u60ef\u6027\u5bfc\u822a<\/p>\n

\u60ef\u6027\u5bfc\u822a\u7cfb\u7edf(Inertial Navigation System, INS)\u5e7f\u6cdb\u5e94\u7528\u4e8e\u5236\u5bfc\u6b66\u5668\u3001\u8230\u8247\u3001\u706b\u7bad\u3001\u98de\u673a\u548c\u8f66\u8f86\u7b49\u7684\u5bfc\u822a\u4e0e\u8ddf\u8e2a\uff0c\u5176\u6838\u5fc3\u7ec4\u4ef6IMU\uff0c\u7531\u4e09\u4e2a\u6b63\u4ea4\u7684\u5355\u8f74\u52a0\u901f\u5ea6\u8ba1\u548c\u4e09\u4e2a\u6b63\u4ea4\u7684\u9640\u87ba\u4eea\u7ec4\u6210\u3002\u968f\u7740\u5fae\u673a\u7535\u6280\u672f\u7684\u53d1\u5c55\uff0c\u4f20\u611f\u5668\u5c3a\u5bf8\u53d8\u5c0f\uff0c\u6210\u672c\u964d\u4f4e\uff0c\u540c\u65f6\u52a0\u5165\u78c1\u529b\u8ba1\uff0c\u88ab\u5e7f\u6cdb\u5e94\u7528\u4e8e\u884c\u4eba\u5bfc\u822a\u3002<\/p>\n

\u60ef\u6027\u5bfc\u822a\u57fa\u4e8e\u822a\u4f4d\u63a8\u7b97\u65b9\u6cd5\u5b9e\u73b0\uff0c\u56e0\u6b64\u968f\u7740\u65f6\u95f4\u4f1a\u4ea7\u751f\u7d2f\u79ef\u8bef\u5dee\uff0c\u5176\u5b9a\u4f4d\u7cbe\u5ea6\u53d6\u51b3\u4e8e\u4f20\u611f\u5668\u8d28\u91cf\u548c\u4f20\u611f\u5668\u5b89\u653e\u4f4d\u7f6e\u3002\u7ed1\u5728\u811a\u4e0a\u7684\u60ef\u6027\u5bfc\u822a\u53ef\u91c7\u7528\u96f6\u901f\u6821\u6b63\u9650\u5236\u6f02\u79fb\u5b9e\u73b0\u5b9a\u4f4d\u8bef\u5dee\u5c0f\u4e8e\u884c\u8d70\u8ddd\u79bb\u76841%\uff0c\u800c\u5b89\u653e\u5728\u5176\u4ed6\u4f4d\u7f6e\u5219\u5b9a\u4f4d\u8bef\u5dee\u5e38\u5e38\u5927\u4e8e1%\u3002\u968f\u7740\u667a\u80fd\u624b\u673a\u7684\u666e\u53ca\u548c\u5fae\u673a\u7535\u5668\u4ef6\u7684\u53d1\u5c55\uff0c\u57fa\u4e8e\u667a\u80fd\u624b\u673a\u7684\u60ef\u6027\u5bfc\u822a\u6210\u4e3a\u7814\u7a76\u70ed\u70b9\u3002<\/p>\n

9. \u5730\u78c1\u5b9a\u4f4d<\/p>\n

\u73b0\u4ee3\u5efa\u7b51\u7269\u57fa\u672c\u90fd\u5177\u6709\u94a2\u7b4b\u6df7\u51dd\u571f\u7ed3\u6784\uff0c\u8fd9\u4e9b\u5efa\u7b51\u7269\u5899\u4f53\u5185\u90e8\u7684\u91d1\u5c5e\u7ed3\u6784\u4f1a\u5bf9\u5ba4\u5185\u7684\u5730\u78c1\u573a\u4ea7\u751f\u5f88\u5927\u5f71\u54cd\uff0c\u800c\u5ba4\u5185\u7684\u7535\u6c14\u8bbe\u5907\u4e5f\u4f1a\u5bf9\u78c1\u573a\u4ea7\u751f\u5f71\u54cd\u3002\u540c\u65f6\u5ba4\u5185\u78c1\u573a\u5177\u6709\u8f83\u5f3a\u7684\u7a33\u5b9a\u6027\u3002\u6545\u5ba4\u5185\u5730\u78c1\u573a\u662f\u4e00\u79cd\u53ef\u8fd0\u7528\u4e8e\u5ba4\u5185\u5b9a\u4f4d\u5bfc\u822a\u7684\u6709\u6548\u4fe1\u606f\u6e90\u3002\u5730\u78c1\u5b9a\u4f4d\uff0c\u662f\u6307\u5229\u7528\u5730\u78c1\u573a\u7279\u5f81\u7684\u7279\u5f02\u6027\u83b7\u53d6\u4f4d\u7f6e\u4fe1\u606f\u7684\u6280\u672f\u65b9\u6848\u3002\u5b9a\u4f4d\u65b9\u6cd5\u4e3b\u8981\u91c7\u7528\u6307\u7eb9\u5b9a\u4f4d\u7684\u65b9\u6cd5\u3002\u7531\u4e8e\u539f\u6709\u78c1\u573a\u4fe1\u606f\uff0c\u6545\u6210\u672c\u76f8\u6bd4\u5176\u4ed6\u5b9a\u4f4d\u6280\u672f\u66f4\u4f4e\uff0c\u4f46\u4ecd\u9700\u8981\u4eba\u5de5\u5efa\u7acb\u6570\u636e\u5e93\u3002IndoorAtlas\u7684\u5730\u78c1\u5b9a\u4f4d\u65b9\u6848\u662f\u5176\u4e2d\u4ee3\u8868\uff0c\u5b9a\u4f4d\u7cbe\u5ea6\u5df2\u80fd\u8fbe\u52301~2\u7c73\u3002<\/p>\n

10. \u4f2a\u536b\u661f<\/p>\n

\u536b\u661f\u662f\u4e00\u79cd\u57fa\u4e8e\u5730\u9762\u7684\u80fd\u4f20\u64ad\u7c7b\u4f3cGNSS\u4fe1\u53f7\u7684\u53d1\u751f\u5668\uff0c\u6700\u7b80\u5355\u7684\u7ec4\u6210\u662fGNSS\u4fe1\u53f7\u53d1\u751f\u5668\u548c\u53d1\u5c04\u88c5\u7f6e\u3002\u91c7\u7528\u4e0eGNSS\u4fe1\u53f7\u4f53\u5236\u4e0d\u540c\u7684\u4f2a\u536b\u661f\uff0c\u53ef\u907f\u514d\u5bf9\u6b63\u5e38\u536b\u661f\u4fe1\u53f7\u7684\u5e72\u6270\uff0c\u53ef\u8fbe\u5230\u5398\u7c73\u7ea7\u5b9a\u4f4d\u7cbe\u5ea6\uff0c\u4f46\u8bbe\u5907\u590d\u6742\uff0c\u6210\u672c\u5f88\u9ad8\u3002Locata\u57282010\u5e74\u53d1\u5e03\u7684\u7cfb\u7edf\u53ef\u5b9e\u73b050\u5e73\u65b9\u5343\u7c73\u51852\u5398\u7c73\u7684\u5b9a\u4f4d\u7cbe\u5ea6\u3002<\/p>\n

11. \u84dd\u7259\u548cZigBee\u5b9a\u4f4d<\/p>\n

\u84dd\u7259\u548cZigBee\u6280\u672f\u7c7b\u4f3c\uff0c\u6709\u90e8\u5206\u91cd\u5408\u9891\u6bb5\uff0c\u4e14\u4e24\u8005\u5b9a\u4f4d\u6280\u672f\u5747\u57fa\u4e8e\u77ed\u8ddd\u79bb\u4f4e\u529f\u8017\u901a\u4fe1\u534f\u8bae\uff1aZigBee\u662f\u57fa\u4e8eIEEE802.15.4\u6807\u51c6\u7684\u4f4e\u529f\u8017\u5c40\u57df\u7f51\u534f\u8bae\uff1b\u76ee\u524d\u84dd\u7259\u5b9a\u4f4d\u4e3b\u8981\u4f7f\u7528\u84dd\u72594.0\u89c4\u8303\uff0c\u662f\u57fa\u4e8e\u4f4e\u529f\u8017\u84dd\u7259\u6280\u672f(Bluetooth Low Energy, BLE)\u3002\u4e24\u8005\u90fd\u5177\u6709\u8fd1\u8ddd\u79bb\u3001\u4f4e\u529f\u8017\u3001\u4f4e\u6210\u672c\u7684\u7279\u70b9\u3002ZigBee\uff08\u84dd\u7259\uff09\u7684\u5b9a\u4f4d\u5747\u901a\u8fc7\u5728\u5ba4\u5185\u73af\u5883\u4e2d\u5e03\u7f6e\u9759\u6001\u53c2\u8003\u70b9(\u84dd\u7259beacon)\uff0c\u53ef\u4ee5\u5b9e\u73b0\u57fa\u4e8e\u90bb\u8fd1\u63a2\u6d4b\u6cd5\u3001\u8d28\u5fc3\u6cd5[48]\u3001\u591a\u8fb9\u5b9a\u4f4d\u548c\u6307\u7eb9\u5b9a\u4f4d\u7684\u5b9a\u4f4d\u7cfb\u7edf\u3002\u5b9a\u4f4d\u7cbe\u5ea6\u4e3b\u8981\u53d6\u51b3\u4e8e\u57fa\u7840\u8bbe\u65bd\u7684\u90e8\u7f72\u5bc6\u5ea6\u30022016\u5e74\u53d1\u5e03\u7684\u84dd\u72595.0\u534f\u8bae\u652f\u6301BLE Direction Finding\u7684 Angle of Arrival\uff08AoA\uff09\u548cAngle of Departure\uff08AoD\uff09\u53c2\u6570\u4f30\u8ba1\uff0c\u8fd9\u4e9b\u53c2\u6570\u5c06\u4e3a1m\u4ee5\u5185\u7684\u5ba4\u5185\u5b9a\u4f4d\u63d0\u4f9b\u6280\u672f\u652f\u6491\u3002<\/p>\n

12. \u8702\u7a9d\u7f51\u7edc\u5b9a\u4f4d<\/p>\n

\u8702\u7a9d\u7f51\u7edc\u6280\u672f\u662f\u4e00\u79cd\u6210\u719f\u7684\u901a\u4fe1\u6280\u672f\uff0c\u4e3b\u8981\u7528\u4e8e\u5bf9\u79fb\u52a8\u624b\u673a\u7684\u5b9a\u4f4d\u3002\u8702\u7a9d\u7f51\u7edc\u901a\u8fc7\u68c0\u6d4b\u79fb\u52a8\u53f0\u548c\u591a\u4e2a\u57fa\u7ad9\u4e4b\u95f4\u4f20\u64ad\u4fe1\u53f7\u7684\u7279\u5f81\u53c2\u6570\uff08RSSI\uff0c\u4f20\u64ad\u65f6\u95f4\u6216\u65f6\u95f4\u5dee\uff0c\u5165\u5c04\u89d2\u7b49\uff09\uff0c\u53ef\u91c7\u7528\u90bb\u8fd1\u63a2\u6d4b\u6cd5\u3001AOA\u3001TOA\u548cOTDOA (Observed Time Difference Of Arrival, \u89c2\u6d4b\u5230\u8fbe\u65f6\u95f4\u5dee)\u5b9e\u73b0\u5b9a\u4f4d\uff0c\u53ef\u4f5c\u4e3a\u666e\u9002\u5316\u7684\u5b9a\u4f4d\u65b9\u6848\u3002\u76ee\u524dCell-ID\u52a0\u4e0aRTT\u89e3\u51b3\u65b9\u6848\u7cbe\u5ea6\u4e3a20-60m\u3002\u91c7\u7528\u667a\u80fd\u5929\u7ebfMIMO+TDOA\/AOA\u6280\u672f\uff0c\u7cbe\u5ea6\u53ef\u4ee5\u8fbe\u52305-10m\u3002\u672a\u6765\u76845G\u7f51\u7edc\u5177\u6709\u5927\u5e26\u5bbd\u3001\u591a\u5929\u7ebf\u3001\u5bc6\u96c6\u7ec4\u7f51\u7b49\u4f18\u52bf\uff0c\u53ef\u4ee5\u5b9e\u73b01m\u4ee5\u5185\u7684\u5b9a\u4f4d\u7cbe\u5ea6\u3002<\/p>\n

13. \u878d\u5408\u5b9a\u4f4d<\/p>\n

\u878d\u5408\u5b9a\u4f4d\u662f\u6307\u878d\u5408\u591a\u79cd\u5b9a\u4f4d\u6280\u672f\u3001\u591a\u4f20\u611f\u5668\u7684\u4fe1\u606f\u8fdb\u884c\u7efc\u5408\u5b9a\u4f4d\uff0c\u4ee5\u8fbe\u5230\u4f18\u52bf\u4e92\u8865\uff0c\u63d0\u9ad8\u5b9a\u4f4d\u7cbe\u5ea6\u3001\u9c81\u68d2\u6027\uff0c\u964d\u4f4e\u5b9a\u4f4d\u6210\u672c\u3002\u5b9a\u4f4d\u6280\u672f\u7684\u9009\u62e9\u5219\u4e3b\u8981\u89c6\u573a\u666f\u9700\u6c42\u800c\u5b9a\uff0c\u591a\u4e3a\u7edd\u5bf9\u5b9a\u4f4d\u6280\u672f\u4e0e\u76f8\u5bf9\u5b9a\u4f4d\u6280\u672f\u7684\u7ed3\u5408\uff0c\u5982\u6d59\u6c5f\u5927\u5b66\u90ed\u4f1f\u9f99\u5b9e\u73b0\u4e86\u5730\u78c1\u4e0e\u60ef\u5bfc\u7ed3\u5408\u7684\u5ba4\u5185\u5b9a\u4f4d\u7cfb\u7edf\uff0c\u5e73\u7a33\u6b65\u884c\u65f690%\u5b9a\u4f4d\u8bef\u5dee\u5c0f\u4e8e4.5m\uff1b\u4e0a\u6d77\u4ea4\u901a\u5927\u5b66\u94b1\u4e45\u8d85\u5c06\u60ef\u5bfc\u5b9a\u4f4d\u4e0e\u5730\u56fe\u7ed3\u5408\u5b9e\u73b0\u624b\u673a\u7aef\u7684\u5ba4\u5185\u5b9a\u4f4d\uff0c\u6b63\u5e38\u6301\u63e1\u624b\u673a\u59ff\u6001\u4e0b95%\u8bef\u5dee\u4e3a0.8m\uff1b\u540c\u65f6\u4e5f\u6709\u5f88\u591a\u7814\u7a76\u5c06WiFi\u4e0e\u60ef\u5bfc\u7ed3\u5408\u53d6\u5f97\u4e86\u8f83\u597d\u7684\u6548\u679c\u3002\u9488\u5bf9\u884c\u4eba\u590d\u6742\u7684\u8fd0\u52a8\u884c\u4e3a\uff0c\u63d0\u51fa\u4e86\u8fd0\u52a8\u8bc6\u522b\u8f85\u52a9\u7684\u884c\u4eba\u5b9a\u4f4d\u65b9\u6cd5\uff0c\u63d0\u9ad8\u4e86\u5ba4\u5185\u5b9a\u4f4d\u7684\u9c81\u68d2\u6027\u3002<\/p>\n

14. \u534f\u540c\u5b9a\u4f4d<\/p>\n

\u534f\u540c\u5b9a\u4f4d\u662f\u6307\u5728\u4e00\u4e2a\u5b9a\u4f4d\u573a\u666f\u4e2d\u5b58\u5728\u5df2\u77e5\u8282\u70b9\u548c\u672a\u77e5\u8282\u70b9\uff0c\u672a\u77e5\u8282\u70b9\u4e4b\u95f4\u53ef\u4ee5\u8fdb\u884c\u4fe1\u606f\u4ea4\u4e92\uff0c\u4e5f\u53ef\u4ee5\u76f8\u4e92\u4e4b\u95f4\u8fdb\u884c\u6d4b\u8ddd\u3001\u6d4b\u5411\u6216\u90bb\u8fd1\u63a2\u6d4b\uff0c\u5e76\u4e14\u53ef\u4ee5\u5229\u7528\u8fc7\u53bb\u65f6\u523b\u7684\u5b9a\u4f4d\u4fe1\u606f\uff0c\u4ece\u800c\u5b9e\u73b0\u5bf9\u672a\u77e5\u8282\u70b9\u5f53\u524d\u65f6\u523b\u7684\u5b9a\u4f4d\u3002\u534f\u540c\u5b9a\u4f4d\u7684\u5177\u4f53\u65b9\u5f0f\u53ef\u6839\u636e\u5177\u4f53\u5b9a\u4f4d\u6280\u672f\u8c03\u6574\uff0c\u76ee\u6807\u5728\u4e8e\u901a\u8fc7\u8282\u70b9\u4e4b\u95f4\u7684\u534f\u540c\u5408\u4f5c\u63d0\u5347\u5355\u4e2a\u8282\u70b9\u53ca\u6574\u4e2a\u7cfb\u7edf\u7684\u5b9a\u4f4d\u6027\u80fd\u3002\u534f\u540c\u5b9a\u4f4d\u5728\u591a\u673a\u5668\u4eba\u5b9a\u4f4d\u3001\u65e0\u7ebf\u7f51\u7edc\u5b9a\u4f4d\u3001\u6c34\u4e0b\u81ea\u4e3b\u822a\u884c\u5668\u53ca\u536b\u661f\u5b9a\u4f4d\u7b49\u7814\u7a76\u4e2d\u6b63\u53d7\u5230\u8d8a\u6765\u8d8a\u591a\u7684\u5173\u6ce8\u3002\u5bf9\u65e0\u7ebf\u4f20\u611f\u7f51\u7edc\u5173\u4e8e\u534f\u540c\u5b9a\u4f4d\u7684\u7814\u7a76\u8fdb\u884c\u4e86\u7efc\u8ff0\u3002\u610f\u5927\u5229\u90fd\u7075\u7406\u5de5\u5927\u5b66\u7684R. Garello\u56e2\u961f\u8fdb\u884c\u4e86\u534f\u540c\u5b9a\u4f4d\u5bf9\u536b\u661f\u5b9a\u4f4d\u7ec8\u7aef\u8f85\u52a9\u6355\u83b7\u7684\u7814\u7a76\uff0c\u5e76\u6bd4\u8f83\u4e86\u51e0\u79cd\u5e38\u89c1\u7684\u5b9a\u4f4d\u7b97\u6cd5\u7684\u6027\u80fd\u3002<\/p>\n

15. \u7fa4\u667a\u611f\u77e5<\/p>\n

\u7fa4\u667a\u611f\u77e5\u662f\u5c06\u666e\u901a\u7528\u6237\u7684\u79fb\u52a8\u8bbe\u5907\u4f5c\u4e3a\u57fa\u672c\u611f\u77e5\u5355\u5143\uff0c\u901a\u8fc7\u7f51\u7edc\u901a\u8baf\u5f62\u6210\u7fa4\u667a\u611f\u77e5\u7f51\u7edc\uff0c\u4ece\u800c\u5b9e\u73b0\u611f\u77e5\u4efb\u52a1\u5206\u53d1\u4e0e\u611f\u77e5\u6570\u636e\u6536\u96c6\uff0c\u5b8c\u6210\u5927\u89c4\u6a21\u3001\u590d\u6742\u7684\u793e\u4f1a\u611f\u77e5\u4efb\u52a1\u3002\u5728\u8ba1\u7b97\u673a\u79d1\u5b66\u9886\u57df\uff0c\u4e0e\u7fa4\u667a\u611f\u77e5\u76f8\u5173\u7684\u6982\u5ff5\u6709\uff1a\u7fa4\u4f53\u8ba1\u7b97(Crowd computing)\u3001\u793e\u7fa4\u611f\u77e5(Social sensing)\u3001\u4f17\u5305(Crowdsourcing)\u7b49\u7b49\u3002<\/p>\n

\u5728\u5ba4\u5185\u5b9a\u4f4d\u9886\u57df\uff0c\u7fa4\u667a\u611f\u77e5\u4e5f\u5f97\u5230\u5e7f\u6cdb\u7684\u7814\u7a76\u548c\u5e94\u7528\u3002\u6e05\u534e\u5927\u5b66\u7684\u5434\u9648\u6cad\u5229\u7528\u79fb\u52a8\u7fa4\u667a\u611f\u77e5\u673a\u5236\uff0c\u63d0\u51fa\u4e86\u65e0\u4eba\u5de5\u73b0\u573a\u52d8\u6d4b\u7684\u65e0\u7ebf\u4fe1\u53f7\u6307\u7eb9\u5730\u56fe\u6784\u5efa\u6280\u672f\u3002\u4e0a\u6d77\u4ea4\u901a\u5927\u5b66\u7684\u5f20\u654f\u5c06\u7528\u6237\u7684\u8fd0\u52a8\u4fe1\u606f\u4e0e\u65e0\u7ebf\u4fe1\u53f7\u7ed3\u5408\uff0c\u901a\u8fc7\u65e0\u7ebf\u865a\u62df\u5730\u6807\u548cGraphSLAM\u56fe\u4f18\u5316\u65b9\u6cd5\uff0c\u5229\u7528\u7fa4\u667a\u611f\u77e5\u5efa\u7acb\u65e0\u7ebf\u5b9a\u4f4d\u6307\u7eb9\u5e93\u3002\u4e0a\u6d77\u4ea4\u901a\u5927\u5b66\u7684\u9ad8\u6587\u653f\u540c\u6837\u57fa\u4e8e\u7fa4\u667a\u611f\u77e5\uff0c\u63d0\u51fa\u4e86\u6307\u7eb9\u4fe1\u53f7\u7684\u8870\u51cf\u751f\u547d\u5468\u671f\u63cf\u8ff0\u65b9\u6cd5\uff0c\u5b9e\u73b0\u4e86\u5bf9\u65e0\u7ebf\u5b9a\u4f4d\u7f51\u7edc\u6307\u7eb9\u5e93\u7684\u81ea\u9002\u5e94\u66f4\u65b0\u3002<\/p>\n

\u5ba4\u5185\u5b9a\u4f4d\u6280\u672fUWB\u5b9e\u9a8c\u5ba4\u6536\u96c6\u5e76\u5448\u73b0\uff0c\u5982\u6709\u4fb5\u6743\u8bf7\u8054\u7cfb\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

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