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首页> 外文会议>2011 IEEE Topical Conference on Wireless Sensors and Sensor Networks >A multilateral synthetic aperture wireless positioning approach to precise 3D localization of a robot tool center point
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A multilateral synthetic aperture wireless positioning approach to precise 3D localization of a robot tool center point

机译：一种多边合成孔径无线定位方法，可对机器人工具中心点进行精确的3D定位

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In this paper, a novel multilateral synthetic aperture secondary radar concept and its application for precise 3D localization of a robot tool center point (TCP) are introduced. A backscatter transponder is attached to the TCP of a robot. Spatially distributed FMCW secondary radar units pick up the backscattered phase coherent transponder signals. Based on assisting relative sensors, a synthetic aperture is created with the TCP. The developed multilateral inverse synthetic aperture reconstruction algorithm then determines a probability density function (PDF) of the spatial transponder position. By simulations and experimental results using a 5.8 GHz system with 140 MHz bandwidth it is shown, that 3D localization precision in the mm range can be achieved with the novel wireless local positioning concept even with narrowband radar systems in dense multipath environments. Heretofore, accuracies of this magnitude were only attainable with ultrawideband (UWB) systems utilizing a ten times wider bandwidth. It is shown, that the multilateral synthetic aperture locating system has the potential for a quantum leap in precise 3D wireless local positioning.
机译：本文介绍了一种新颖的多边合成孔径辅助雷达概念及其在机器人工具中心点（TCP）的精确3D定位中的应用。反向散射应答器连接到机器人的TCP。空间分布的FMCW辅助雷达单元接收反向散射的相位相干应答器信号。基于辅助的相对传感器，使用TCP创建一个合成孔径。然后，开发的多边逆合成孔径重建算法确定空间应答器位置的概率密度函数（PDF）。通过使用具有140 MHz带宽的5.8 GHz系统的仿真和实验结果表明，即使在密集多径环境中使用窄带雷达系统，也可以通过新颖的无线本地定位概念在毫米范围内实现3D定位精度。迄今为止，只有使用十倍宽带宽的超宽带（UWB）系统才能达到这种精度。结果表明，多边合成孔径定位系统在精确的3D无线本地定位中具有巨大的飞跃潜力。

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