中文标题：Tightly coupled VLP/INS integrated navigation by inclination estimation and blockage handling

英文标题：Tightly coupled VLP/INS integrated navigation by inclination estimation and blockage handling

来源期刊：SpringerOpen

基金项目：This work was supported in part by the National Key Research and Development Program of China (International Scientific and Technological Cooperation Program) under Grant 2022YFE0139300; in part by the National Natural Science Foundation of China under Grant 42374047; in part by the Guangdong Basic and Applied Basic Research Foundation under Grant 2022B1515120067; in part by the Key Research and Development Program of Hubei Province (International Scientific and Technological Cooperation Program) under Grant 2023EHA036; and in part by Wuhan AI Innovation Program under Grant 2023010402040011.

作  者：Xiao Sun, Yuan Zhuang, Xiansheng Yang, Jianzhu Huai, Tianming Huang and Daquan Feng

作者单位：State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, China(Xiao Sun,Yuan Zhuang,Xiansheng Yang,Jianzhu Huai&Tianming Huang)
Wuhan University Shenzhen Research Institute, Shenzhen, China(Yuan Zhuang)
Guangdong Province Engineering Laboratory for Digital Creative Technology, Shenzhen University, Shenzhen, China(Daquan Feng)
School of Geodesy and Geomatics, Wuhan University, Wuhan, China(Xiao Sun)

摘  要：Visible Light Positioning (VLP) has emerged as a promising technology capable of delivering indoor localization with high accuracy. In VLP systems that use PhotoDiodes (PDs) as light receivers, the Received Signal Strength (RSS) is affected by the incidence angle of light, making the inclination of PDs a critical parameter in the positioning model. Currently, most studies assume the inclination to be constant, limiting the applications and positioning accuracy. Additionally, light blockages may severely interfere with the RSS measurements but the literature has not explored blockage detection in real-world experiments. To address these problems, we propose a tightly coupled VLP/INS (Inertial Navigation System) integrated navigation system that uses graph optimization to account for varying PhotoDiode (PD) inclinations and VLP blockages. We also propose to simultaneously estimating the robot’s pose and the locations of some unknown Light-Emitting Diodes (LEDs). Simulations and two groups of real-world experiments demonstrate the efficiency of our approach. Despite inclination changes and blockages, one group achieved an average positioning accuracy of 10 cm during movement, inclination accuracy within 1 degree, and a 100% blockage detection success rate, while the other group achieved an average accuracy of 11.5 cm, showing the effectiveness and robustness for VLP-based localization applications.

全文链接： https://satellite-navigation.springeropen.com/articles/10.1186/s43020-025-00158-9