摘要
超宽带UWB(Ultra Wide Band)技术是一种新兴的室内定位技术,具有功耗低、定位精度高、穿透能力强等特点,被广泛研究。利用到达时间差TDOA(Time Difference of Arrival)测量方法,通过UWB标签向多个基站发送信号得到标签到各个基站的时间戳差,利用Chan算法实时解算标签的运动位置。建立"当前"统计模型,设置阈值改进自适应卡尔曼滤波迭代过程,利用改进后的自适应卡尔曼滤波算法消除非视距误差和噪声对TDOA定位的影响,实现了更准确的TDOA室内定位。实验表明,基于自适应卡尔曼滤波的TDOA定位方法具有较高的精度。
UWB(Ultra Wide Band)technology is a new indoor positioning technology which has been widely studied for its low power consumption,high positioning accuracy and strong penetration ability.In this paper,based on the TDOA(time difference of arrival)measurement method,UWB tags are used to send signals to multiple base stations to obtain the time stamp difference between tags and each base station,and the movement position of the tag is solved in real time by the Chan algorithm.The“current”statistical model is established,the iterative process of Kalman filtering is improved by setting the threshold,and them the improved adaptive Kalman filter algorithm is used to eliminate the influence of non line of sight error and noise on TDOA location so that the indoor positioning accuracy of TDOA is more accurate.Experiments show that the TDOA positioning method based on adaptive Kalman filter has high accuracy.
作者
罗豪龙
李广云
欧阳文
杨啸天
向奉卓
LUO Haolong;LI Guangyun;OUYANG Wen;YANG Xiaotian;XIANG Fengzhuo(Information Engineering University,Zhengzhou 450001,China;61287 Troops,Chengdu 610036,China)
出处
《测绘科学技术学报》
北大核心
2020年第3期252-257,共6页
Journal of Geomatics Science and Technology
基金
国家重点研发计划项目(2017YFF0206001)
国家自然科学基金项目(41501491)。
关键词
到达时间差
非视距误差
当前统计
卡尔曼滤波
阈值
time difference of arrival(TDOA)
non-line of sight error
current statistics
Kalman filter
threshold
