Abstract: A method for planning a path for a mobile object is disclosed. The method includes: generating a plurality of costmap layers based at least on locations of the obstacles in a navigation area, current locations and/or current planned paths of other mobile objects in the navigation area, and historical locations of other mobile objects in the navigation area; generating a master costmap based on the plurality of costmap layers; and planning a path to a target location based on the master costmap. An apparatus for planning a path for a mobile object is also disclosed. A controller for a mobile object, a mobile object and a computer-readable storage medium are also disclosed.

Abstract: The present invention relates to a method and apparatus for detecting a signal propagation type, the method comprises: when a positioning base station of an ultra-wideband positioning system currently receives a pulse response from a positioning tag, computing an actual value of a specified feature of the received pulse response at least using the received pulse response; selecting, for the specified feature, a predictive model for predicting an adopted value of the specified feature at a future moment on the basis of an adopted value of the specified feature at a historical moment; using the predictive model selected for the specified feature to acquire an adopted value of the specified feature at a future moment, to serve as a predicted value of the specified feature of the received pulse response; and determining the current type of signal propagation between the positioning base station and positioning tag on the basis of the actual value and predicted value of the specified feature of the received pulse

Abstract: The present invention relates to a method and apparatus for detecting a signal propagation type. The method comprises: calculating a similarity value of a currently received pulse response and a reference pulse response when a certain positioning base station of a UWB positioning system currently receives a pulse response from a certain positioning tag, the similarity value indicating the degree of similarity between the currently received pulse response and the reference pulse response, wherein the reference pulse response is a pulse response previously received by the positioning base station from the positioning tag; and determining the current type of signal propagation between the positioning base station and the positioning tag on the basis of the similarity value. The method and apparatus can detect the type of signal propagation between the positioning base station and positioning tag of the UWB positioning system.

Abstract: The disclosure relates to a detection method and a detection apparatus, the method including: calculating, when a location base station in an ultra-wideband location system receives a pulse response, values of a plurality of specified pulse response characteristics using the received pulse response, and using the calculated values as values of the plurality of specified pulse response characteristics of the location base station; calculating differences between the values of the plurality of specified pulse response characteristics of the location base station and values of the plurality of specified pulse response characteristics of the location base station at a previous time, and using the calculated differences as variations of the plurality of specified pulse response characteristics of the location base station; determining, based on at least the variations of the plurality of specified pulse response characteristics of the location base station and by means of a trained classifier, whether signal propa

Abstract: The present invention relates to a method and apparatus for detecting a signal propagation type, the method comprises: when a positioning base station of an ultra-wideband positioning system currently receives a pulse response from a positioning tag, computing an actual value of a specified feature of the received pulse response at least using the received pulse response; selecting, for the specified feature, a predictive model for predicting an adopted value of the specified feature at a future moment on the basis of an adopted value of the specified feature at a historical moment; using the predictive model selected for the specified feature to acquire an adopted value of the specified feature at a future moment, to serve as a predicted value of the specified feature of the received pulse response; and determining the current type of signal propagation between the positioning base station and positioning tag on the basis of the actual value and predicted value of the specified feature of the received pulse

Abstract: The present invention relates to a method and apparatus for detecting the type of signal propagation, the method comprising: calculating a plurality of similarity values when a location base station in an ultra-wideband location system currently receives a pulse response from a location tag, wherein each of the similarity values represents the degree of similarity between the currently received pulse response and one of a plurality of reference pulse responses, and the plurality of reference pulse responses are pulse responses from at least one location tag that were previously received by the location base station where the type of signal propagation between the location base station and the at least one location tag is a specific type of signal propagation; and determining, based on the plurality of similarity values, a current type of signal propagation between the location base station and the location tag.

Abstract: The present invention relates to a method and apparatus for detecting a signal propagation type. The method comprises: calculating a similarity value of a currently received pulse response and a reference pulse response when a certain positioning base station of a UWB positioning system currently receives a pulse response from a certain positioning tag, the similarity value indicating the degree of similarity between the currently received pulse response and the reference pulse response, wherein the reference pulse response is a pulse response previously received by the positioning base station from the positioning tag; and determining the current type of signal propagation between the positioning base station and the positioning tag on the basis of the similarity value. The method and apparatus can detect the type of signal propagation between the positioning base station and positioning tag of the UWB positioning system.

Abstract: A field of measurement method for determining pedestrian position, and an apparatus and storage medium for realizing the method. A method for determining pedestrian position information according to one example includes the following steps: acquiring a step length measurement value and a travel direction measurement value of one or more footsteps of a pedestrian; and determining position information of the pedestrian from the step length measurement value and the travel direction measurement value, wherein the step length measurement value of each footstep is provided by a signal receiver and a signal emitter, which form a pair and are disposed on different lower limbs of the pedestrian, and the travel direction measurement value is provided by an inertial measurement unit.