Journal of Geo-information Science

Recognition of UWB NLOS in LiDAR Point Clouds and Indoor Fusion Positioning Algorithm

SUI Xin, MA Haonan, WANG Changqiang, CHEN Zhijian, SHI Zhengxu, GAO Jiaxin

Journal of Geo-information Science, 2024, 26(12): 2686-2700. DOI: 10.12082/dqxxkx.2024.240442

表2 不同基准站的原始测距值和LOS测距值的测距误差

Other figure/table from this article

Fig. 1 Combined positioning system for UWB NLOS identification based on LiDAR point clouds
Fig. 2 Schematic diagram of indoor NLOS and LOS propagation
Fig. 3 Fusion positioning experimental platform
Fig. 4 Static experiment scene diagram
Fig. 5 3D Point cloud view
Fig. 6 Comparison of ranging errors in NLOS and LOS scenarios during static experiment
Tab. 1 Number of NLOS base stations identified by different algorithms (个)
Fig. 7 Experimental layout of the underground parking lot
Fig. 8 Comparison of the number of NLOS reference stations identified by dynamic recognition algorithms
Fig. 9 UWB base station original ranging errors and LOS ranging errors
Fig. 10 Comparison of positioning trajectories using different algorithms
Fig. 11 Positioning errors of UWB/LiDAR fusion after NLOS identification
Tab. 3 Precision comparison between LeGO-LOAM and five LiDAR/UWB fusion-based positioning algorithms before and after NLOS identification (m)