| 240 | 0 | 114 |
| 下载次数 | 被引频次 | 阅读次数 |
工业4.0背景下，卷绕机装配制造车间具有设备密集、金属干扰强、环境动态变化等特点，这对高精度室内定位提出更高要求，传统定位方法难以满足实际需求。为解决该复杂环境中的定位难题，本文提出了一种基于扩展卡尔曼滤波(EKF)的多传感器融合定位方法。该方法结合聚类分层WiFi定位和惯性导航系统(INS),通过K-means对无线信号进行聚类处理，降低环境干扰的影响，再利用XGBoost和WKNN算法分层定位，同时利用INS提供的连续定位信息，确保在WiFi信号不稳定或缺失时系统定位的稳定性。试验结果显示，与传统单一定位技术相比，该方法的平均定位误差减少了38.04%至41.24%,验证了其在卷绕机车间的应用潜力，未来可推广至更多工业场景。
Abstract：In the context of Industry 4.0, the winding machine assembly workshop demands high-precision indoor positioning due to its characteristics of dense equipment layout, high levels of metal interference, and dynamic environmental changes, which traditional positioning methods fail to meet. To address the positioning challenges in this complex environment, this paper proposes a multi-sensor fusion positioning method based on the extended Kalman filter(EKF). This method combines clustered hierarchical WiFi positioning and an inertial navigation system(INS). K-means clustering is used to process wireless signals, reducing the impact of environmental interference, followed by XGBoost and WKNN algorithms for layered positioning. INS provides continuous positioning information to ensure system stability when WiFi signals are unstable or unavailable. Experimental results show that, compared to traditional single positioning technologies, this method reduces the average positioning error by 38.04% to 41.24%, confirming its potential for application in winding machine workshops and broader industrial scenarios in the future.
[1] 李仲，甘学辉，刘国志，等.卷绕机锭轴的O型橡胶圈柔性支承系统动力学参数测试与分析 [J].东华大学学报(自然科学版),2018,44(5):779-786.LI Z,GAN X H,LIU G Z,et al.Experiment and analysis of dynamic parameters of elastomer O-ring support of winding machine spindle [J].Journal of Donghua University (Natural Science),2018,44(5):779-786.
[2] 杨浩，邹鲲，袁培峰，等.基于遗传算法的化纤落卷任务优化 [J].东华大学学报(自然科学版),2019,45(1):87-92.YANG H,ZOU K,YUAN P F,et al.Optimization of chemical fiber doffing based on genetic algorithm [J].Journal of Donghua University (Natural Science),2019,45(1):87-92.
[3] MISRA P,JHA S,OSTRY D.Improving the coverage range of ultrasound-based localization systems [C]//2011 IEEE Wireless Communications and Networking Conference.Cancun,Mexico.IEEE,2011:605-610.
[4] RAN L,HELAL S,MOORE S.Drishti:an integrated indoor/outdoor blind navigation system and service [C]//Proceedings of the Second IEEE Annual Conference on Pervasive Computing and Communications,2004.Orlando,FL,USA.IEEE,2004:23-30.
[5] ANASTASI G,BANDELLONI R,CONTI M,et al.Experimenting an indoor bluetooth-based positioning service [C]//Proceedings of the 23rd International Conference on Distributed Computing Systems Workshops,2003.Providence,RI,USA.IEEE,2003:480-483.
[6] 袁正，杨涛.基于DOP与RSSI技术融合的室内定位方法 [J].东华大学学报(自然科学版),2019,45(3):406-411.YUAN Z,YANG T.Indoor positioning method based on fusion of DOP and RSSI technology [J].Journal of Donghua University (Natural Science),2019,45(3):406-411.
[7] DEKA M J,JOSHI J,SINHA N,et al.Indoor and outdoor position identification using RFID [C]//2016 International Conference on Recent Advances and Innovations in Engineering (ICRAIE).Jaipur,India.IEEE,2017:1-7.
[8] KAGAWA T,LI H B,MIURA R.A UWB navigation system aided by sensor-based autonomous algorithm-Deployment and experiment in shopping mall [C]//2014 International Symposium on Wireless Personal Multimedia Communications (WPMC).Sydney,NSW,Australia.IEEE,2015:613-617.
[9] FERNÁNDEZ S,GUALDA D,GARCÍA J C,et al.Indoor location system based on ZigBee devices and metric description graphs [C]//2011 IEEE 7th International Symposium on Intelligent Signal Processing.Floriana,Malta.IEEE,2011:1-5.
[10] 陈倩倩，魏建雄.惯性导航计量技术发展现状与展望 [J].计量与测试技术，2024,51(2):45-47.CHEN Q Q,WEI J X.Development status and prospect of inertial navigation metrology technology [J].Metrology & Measurement Technique,2024,51(2):45-47.
[11] 胡楠.基于距离约束的WiFi指纹定位算法研究与实现 [D].南京：南京邮电大学，2020.HU N.Research and implementation of WiFi fingerprint location algorithm based on distance constraint [D].Nanjing:Nanjing University of Posts and Telecommunications,2020.
[12] 李佳.基于GPS/WiFi/蜂窝的室内外无缝定位技术研究及定位系统设计 [D].成都：西南交通大学，2016.LI J.Study on indoor/outdoor seamless positionning techniques and localization system design based on GPS/WiFi/cellular networks [D].Chengdu:Southwest Jiaotong University,2016.
[13] 周成峰.WiFi下RSSI和CSI融合的煤矿井巷指纹定位算法研究 [D].徐州：中国矿业大学，2022.ZHOU C F.Research on fingerprint localization algorithm of coal mine tunnel based on fusion of RSSI and CSI under WiFi [D].Xuzhou:China University of Mining and Technology,2022.
[14] 窦占树，崔丽珍，洪金祥，等.煤矿井下动态环境基于WiFi的OSELM算法研究 [J].传感器与微系统，2023,42(7):48-51.DOU Z S,CUI L Z,HONG J X,et al.Research on OSELM algorithm based on WiFi in coal mine dynamic environment [J].Transducer and Microsystem Technologies,2023,42(7):48-51.
[15] 洪金祥，崔丽珍，窦占树.井下动态环境基于DAE的XGBoost自适应定位算法研究 [J].传感器与微系统，2024,43(10):23-26.HONG J X,CUI L Z,DOU Z S.Research on DAE-based XGBoost self-adaptive localization algorithm for dynamic downhole environment [J].Transducer and Microsystem Technologies,2024,43(10):23-26.
[16] 张丽杰，郝利军，李志宇.基于变中心最大熵CQKF的WiFi/IMU组合定位方法 [J].导航定位学报，2021,9(5):48-53.ZHANG L J,HAO L J,LI Z Y.A WiFi/IMU combined positioning method with variable center maximum entropy CQKF [J].Journal of Navigation and Positioning,2021,9(5):48-53.
[17] FENG C,AU W S A,VALAEE S,et al.Compressive sensing based positioning using RSS of WLAN access points [C]//2010 Proceedings IEEE INFOCOM.San Diego,CA,USA.IEEE,2010:1-9.
[18] 刘晨旭，王兴众，郭浩年.基于WIFI指纹的船舶人员定位算法 [J].船舶物资与市场，2023,31(8):106-111.LIU C X,WANG X Z,GUO H N.Ship personnel location algorithm based on WIFI fingerprint [J].Marine Equipment/Materials & Marketing,2023,31(8):106-111.
[19] 刘佳妮.基于深度学习的室内定位算法研究 [D].深圳：深圳大学，2020.LIU J N.Research on indoor location algorithm based on deep learning [D].Shenzhen:Shenzhen University,2020.
[20] 王巍.惯性技术研究现状及发展趋势 [J].自动化学报，2013,39(6):723-729.WANG W.Status and development trend of inertial technology [J].Acta Automatica Sinica,2013,39(6):723-729.
[21] QIAN J C,PEI L,MA J B,et al.Vector graph assisted pedestrian dead reckoning using an unconstrained smartphone [J].Sensors,2015,15(3):5032-5057.
[22] WANG Z L,ZHAO H Y,QIU S,et al.Stance-phase detection for ZUPT-aided foot-mounted pedestrian navigation system [J].IEEE/ASME Transactions on Mechatronics,2015,20(6):3170-3181.
[23] SHEN J L,TICK D,GANS N.Localization through fusion of discrete and continuous epipolar geometry with wheel and IMU odometry [C]//Proceedings of the 2011 American Control Conference.San Francisco,CA,USA.IEEE,2011:1292-1298.
[24] ZHANG M Y,JIA J,CHEN J,et al.Indoor localization fusing WiFi with smartphone inertial sensors using LSTM networks [J].IEEE Internet of Things Journal,2021,8(17):13608-13623.
[25] CHEN Z H,ZHU Q C,SOH Y C.Smartphone inertial sensor-based indoor localization and tracking with iBeacon corrections [J].IEEE Transactions on Industrial Informatics,2016,12(4):1540-1549.
[26] 张静.基于改进K-means聚类和WKNN算法的WiFi室内定位方法研究 [D].呼和浩特：内蒙古大学，2022.ZHANG J.A research on WiFi indoor positioning method based on improved K-means clustering and WKNN algorithm [D].Hohhot:Inner Mongolia University,2022.
[27] 郑浩，贾展飞，周丽婷，等.基于PSO-XGBoost的风电叶片缺陷分类算法 [J].太阳能学报，2024,45(4):127-133.ZHENG H,JIA Z F,ZHOU L T,et al.Defect classification algorithm of wind turbine blades based on pso-xgboost [J].Acta Energiae Solaris Sinica,2024,45(4):127-133.
[28] 刘宏明.智能手机WiFi/PDR室内融合定位问题研究 [D].南京：东南大学，2021.LIU H M.Research on WiFi/PDR indoor fusion positioning of smart phone [D].Nanjing:Southeast University,2021.
基本信息:
DOI：10.19886/j.cnki.dhdz.2024.0302
中图分类号:TQ340.5;TN713
引用信息:
[1]丁司懿,童辉辉,毛新华,等.基于扩展卡尔曼滤波的卷绕机装配制造车间融合定位方法[J].东华大学学报(自然科学版),2025,51(06):26-37.DOI:10.19886/j.cnki.dhdz.2024.0302.
基金信息:
国家自然科学基金(52105509); 中央高校基本科研业务费专项资金资助(2232023D-25,2232024G-14); 北京市博士后工作经费资助项目; 上海市科技计划项目(20DZ2251400)