| 摘要 |
A method of location of a device includes a displacement law containing a corrective factor of a bias combined by an arithmetical operation with a measured variable, and particles, each particle being associated with a current value of the corrective factor. The current value of the corrective factor being constructed at each iteration on the basis of a previous current value of the corrective factor, computed during a previous iteration, to which is added a random variable drawn according to a predefined probability law. The current values of various particles are initialized, before the first iteration, to various initial values, and during each iteration, for each particle whose coordinates are updated with the aid of this displacement law, the value of the corrective factor in the displacement law is taken equal to this corrective factor's current value associated with the particle. |
| 主权项 |
1. A method of location of a device which is displaced inside a three-dimensional space, the method comprising:
a) the provision of a map of the three-dimensional space and of predefined constraints on the displacements of the device in this three-dimensional space, b) the generation, by an electronic computer, of several distinct particles, each particle being associated:
with coordinates coding its position on the map, andwith a weight representing the probability that the device is situated at the site of this particle, c) the reception of measurements representative of the direction of displacement of the device and of the amplitude of the displacement from its previous position, the measurements being carried out by sensors onboard the displaced device, d) the updating of the coordinates of the position of each particle as a function of the measurements received during step c) and of a predetermined displacement law for displacing this particle from its previous position Pik-1 to a new position Pik in a manner correlated with the measured displacement of the device, each displacement law comprising for this purpose at least one first measured variable whose value is dependent on the measurement of the direction of displacement received during step c) and a second measured variable whose value is dependent on the measurement of the amplitude of this displacement received during step c), and then e) for each particle, if the latest displacement of the particle from the position Pik-1 to the position Pik satisfies the predefined constraints, the increasing (98) of the weight associated with this particle with respect to the weights of the particles whose latest displacement infringes these predefined constraints,
the repetition of steps c) to e), and f) the estimation of the position of the device on the basis of the positions of the particles and of the weights associated with these particles by allotting, during this estimation, more importance to the positions of the particles associated with the highest weights, wherein:
the displacement law also comprises a corrective factor of a bias combined by an arithmetical operation with one of the measured variables, andeach particle is also associated with a current value of the corrective factor, the current value of the corrective factor being constructed at each iteration of step d) on the basis of a previous current value of this corrective factor, computed during a previous iteration of step d), to which is added a random variable drawn according to a predefined probability law, and the current values of various particles being initialized, before the first execution of step d), to various initial values, andduring step d), for each particle whose coordinates are updated with the aid of the displacement law, the value of the corrective factor in the displacement law is taken equal to this corrective factor's current value associated with the particle. |
