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RoPEUS A New Robust Algorithm for Static Positioning in Ultrasonic Systems 英文参考文献
Sensors2009,9,4211-4229;doi:10.3390/OPENACCESS
sensors
ISSN1424-8220
/journal/sensors
Article
RoPEUS:ANewRobustAlgorithmforStaticPositioningin
UltrasonicSystems
Jos′eCarlosPrieto 1,?,ChristopheCroux
2
andAntonioRam′onJim′enez
1
1
LOPSIgroup,InstitutodeAutom′aticaIndustrial,ConsejoSuperiordeInvestigacionesCient′??cas
(CSIC),Ctra.CampoRealKm0.200,28500LaPoveda-ArgandadelRey,Madrid,Spain;
E-mail:arjimenez@iai.csic.es(A.R.J.)
2
FacultyofBusinessandEconomics,K.U.Leuven,Naamsestraat69,3000Leuven,Belgium;
E-mail:christophe.croux@econ.kuleuven.be(C.C.)
?
Authortowhomcorrespondenceshouldbeaddressed;E-mail:cprieto@iai.csic.es;Tel.:(+34)91871
1900;Fax:(+34)918717050
Received:8April2009;inrevisedform:6May2009/Accepted:14May2009/
Published:3June2009
Abstract: Awellknownproblemforprecisepositioninginrealenvironmentsisthepres-
enceofoutliersinthemeasurementsample.Itsimportanceisevenbiggerinultrasoundbased
systems since this technology needs a direct line of sight between emitters and receivers.
Standardtechniquesforoutlierdetectioninrangebasedsystemsdonotusuallyemployro-
bustalgorithms,failingwhenmultipleoutliersarepresent.Thedirectapplicationofstandard
robustregressionalgorithmsfailsinstaticpositioning(whereonlythecurrentmeasurement
sampleisconsidered)inrealultrasoundbasedsystemsmainlyduetothelimitednumberof
measurementsandthegeometryeffects. Thispaperpresentsanewrobustalgorithm,called
RoPEUS,basedonMMestimation,thatfollowsatypicaltwo-stepstrategy:1)ahighbreak-
down point algorithm to obtain a clean sample, and 2) a re?nement algorithm to increase
theaccuracyofthesolution. Themainmodi?cationsproposedtothestandardMMrobust
algorithmareabuiltincheckofpartialsolutionsinthe?rststep(rejectingbadgeometries)
andtheoff-linecalculationofthescaleofthemeasurements.Thealgorithmistestedwithreal
samplesobtainedwiththe3D-LOCUSultrasoundlocalizationsysteminanidealenvironment
withoutobstacles.Thesemeasurementsarecorruptedwithtypicaloutlyingpatternstonumer-
icallyevaluatethealgorit
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