高精度、高可用室内光定位技术研究

In recent years, many emerging applications such as robot navigation, large-space virtual reality have relied on high accuracy (to centimeters or lower), high availability, and spatially scalable indoor positioning technology. Current techniques, however, can hardly meet these demands: radio frequency signals are unstable and thus cannot achieve better than decimeter level accuracy, while optical positioning technology is prohibitively expensive, and is limited in service availability due to its reliance on line of sight (LoS). The proposed project is focused on a new indoor positioning technology based on the idea of rotating light beams, aiming to realize centimeter level accuracy, certain tolerance to occlusion, and floor level scalability. The subjects of research include: (1) a method to generate high-resolution light beams, with which angle of arrival can be accurately and reliably measured; (2) methods of multi-sensor configuration and cooperative positioning, as well as their benefits to service availability and accuracy; (3) light texture based positioning methods under non-LoS conditions. Through innovative design and real system verification, the project aims to provide a strong support for the aforementioned applications by making advancements in the comprehensive performance of accuracy, availability and scalability. The ideas developed in the project will also benefit more general indoor positioning technology and mobile computing.

近年来，许多新兴应用都依赖于高精度（厘米级或更佳）、高可用、空间可扩展的室内定位服务，如机器人导航、大空间虚拟现实等。现有的技术难以满足这个需求：射频信号不够稳定，难以突破分米级精度，而光学定位技术成本高昂，且因为视线依赖，存在可用性方面的短板。本项目拟基于旋转光束的思想，开发新型室内定位技术，实现厘米级精度、一定的抗遮挡能力和楼层级扩展能力。研究内容包括：（1）高分辨率旋转光束产生机制，以及精确、可靠的到达角测量方法，（2）多传感器配置模型和协同定位方法，及其对可用性和定位精度的增强作用，（3）无视线条件下的光纹理定位方法和可定位条件。通过创新设计和真实系统验证，项目拟在精度、可用性、可扩展性三个维度的综合性能上进行突破，为前述的应用提供有力的支撑。项目产生的技术思想也将给更广泛的室内定位技术、移动计算提供新的思路。

在机器人、自动驾驶等领域，高精度、高可用、空间可扩展的室内定位是一项基础服务。现有的技术难以满足这个需求：射频信号不够稳定，难以突破分米级精度，而光学定位技术成本高昂，且因为视线依赖，存在可用性方面的短板。本项目针对这些问题展开了多方面的研究，具体包括内容：1）城市峡谷环境的分布式卫星定位；2）室内WiFi指纹的高效采集；3）基于GPS底层数据的低功耗室内外判别方法；4）卫星定位能耗剖析与优化；5）CurveLight：一种准确实用的光定位系统。通过创新设计和真实系统验证，项目在精度、可用性、可扩展性三个维度的综合性能上进行了突破，为前述的应用提供有力的支撑。