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Localizing Ground Penetrating RADAR: A Step Toward Robust Autonomous Ground Vehicle Localization

机译：定位穿透地面的雷达：迈向稳健的自主地面车辆定位的一步

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摘要

Autonomous ground vehicles navigating on road networks require robust and accurate localization over long-term operation and in a wide range of adverse weather and environmental conditions. GPS/INS (inertial navigation system) solutions, which are insufficient alone to maintain a vehicle within a lane, can fail because of significant radio frequency noise or jamming, tall buildings, trees, and other blockage or multipath scenarios. LIDAR and camera map-based vehicle localization can fail when optical features become obscured, such as with snow or dust, or with changes to gravel or dirt road surfaces. Localizing ground penetrating radar (LGPR) is a new mode of a priori map-based vehicle localization designed to complement existing approaches with a low sensitivity to failure modes of LIDAR, camera, and GPS/INS sensors due to its low-frequency RF energy, which couples deep into the ground. Most subsurface features detected are inherently stable over time. Significant research, discussed herein, remains to prove general utility. We have developed a novel low-profile ultra-low power LGPR system and demonstrated real-time operation underneath a passenger vehicle. A correlation maximizing optimization technique was developed to allow real-time localization at 126 Hz. Here we present the detailed design and results from highway testing, which uses a simple heuristic for fusing LGPR estimates with a GPS/INS system. Cross-track localization accuracies of 4.3 cm RMS relative to a "truth" RTK GPS/INS unit at speeds up to 100 km/h (60 mph) are demonstrated. These results, if generalizable, introduce a widely scalable real-time localization method with cross-track accuracy as good as or better than current localization methods.
机译：在道路网络上行驶的自动地面车辆需要长期运行以及在各种恶劣天气和环境条件下的稳健而准确的定位。仅靠不足以将车辆保持在车道内的GPS / INS（惯性导航系统）解决方案可能会由于射频噪声或干扰，高大的建筑物，树木以及其他障碍物或多径场景而失败。当光学特征变得模糊时，例如雪，尘埃，碎石路面或泥土路面的变化，LIDAR和基于摄像机地图的车辆定位可能会失败。定位探地雷达（LGPR）是一种基于先验地图的车辆定位新模式，旨在补充现有方法，因为它的低频RF能量对LIDAR，摄像机和GPS / INS传感器的故障模式具有较低的敏感性，深入地下。随着时间的推移，大多数检测到的地下特征具有固有的稳定性。本文讨论的重要研究仍有待证明具有通用性。我们开发了一种新颖的低调超低功耗LGPR系统，并演示了乘用车下方的实时操作。开发了一种最大化相关性的优化技术，以允许以126 Hz进行实时定位。在这里，我们介绍公路测试的详细设计和结果，该测试使用简单的启发式方法将LGPR估算值与GPS / INS系统融合。相对于“真” RTK GPS / INS装置，在高达100 km / h（60 mph）的速度下，横轨定位精度为4.3 cm RMS。这些结果（如果可以推广）将引入一种可扩展性强的实时定位方法，其跨轨精度与当前的定位方法一样好或更好。

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  • 来源
    《Journal of Field Robotics》 |2016年第1期|82-102|共21页
  • 作者

    Matthew Cornick; Jeffrey Koechling; Byron Stanley; Beijia Zhang;

  • 作者单位

    MIT Lincoln Laboratory, 244 Wood St. Lexington, Massachusetts 02420;

    MIT Lincoln Laboratory, 244 Wood St. Lexington, Massachusetts 02420;

    MIT Lincoln Laboratory, 244 Wood St. Lexington, Massachusetts 02420;

    MIT Lincoln Laboratory, 244 Wood St. Lexington, Massachusetts 02420;

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