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An Innovative Indoor Localization Method for Agricultural Robots Based on the NLOS Base Station Identification and IBKA-BP Integration

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Veröffentlicht in:Agriculture vol. 15, no. 8 (2025), p. 901
1. Verfasser: Yang, Jingjing
Weitere Verfasser: Wan Lihong, Qian Junbing, Li Zonglun, Mao Zhijie, Zhang, Xueming, Lei Junjie
Veröffentlicht:
MDPI AG
Schlagworte:
Accuracy
Localization method
Distance measurement
Algorithms
Robots
Clustering
Neural networks
Back propagation networks
Signal strength
Line of sight
Methods
Localization
Kalman filters
Global navigation satellite system
Economic
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Abstract:This study proposes an innovative indoor localization algorithm based on the base station identification and improved black kite algorithm–backpropagation (IBKA-BP) integration to address the problem of low positioning accuracy in agricultural robots operating in agricultural greenhouses and breeding farms, where the Global Navigation Satellite System is unreliable due to weak or absent signals. First, the density peaks clustering (DPC) algorithm is applied to select a subset of line-of-sight (LOS) base stations with higher positioning accuracy for backpropagation neural network modeling. Next, the collected received signal strength indication (RSSI) data are processed using Kalman filtering and Min-Max normalization, suppressing signal fluctuations and accelerating the gradient descent convergence of the distance measurement model. Finally, the improved black kite algorithm (IBKA) is enhanced with tent chaotic mapping, a lens imaging reverse learning strategy, and the golden sine strategy to optimize the weights and biases of the BP neural network, developing an RSSI-based ranging algorithm using the IBKA-BP neural network. The experimental results demonstrate that the proposed algorithm can achieve a mean error of 16.34 cm, a standard deviation of 16.32 cm, and a root mean square error of 22.87 cm, indicating its significant potential for precise indoor localization of agricultural robots.
ISSN:2077-0472
DOI:10.3390/agriculture15080901
Quelle:Agriculture Science Database