| 摘 要: 利用超宽带定位技术，改进了基于三边定位技术的超宽带室内定位技术应用模型。该模型基于TWTOF(双向飞行时间法)采集定位数据，利用三边定位原理解算坐标位置，结合卡尔曼滤波算法，解决了定位模型中由于设备自身误差带来的定位误差大和定位点漂移等问题，进一步提高了定位精度。经现场实验检验，定位模型的定位坐标精度可达厘米级，误差低于12 cm，滤波后定位均方差减少了38%以上。该模型具有定位算法简单可靠、定位结果误差小等优势，为室内定位技术的应用提供了参考。 |
| 关键词: 室内定位；超宽带；卡尔曼滤波；应用模型 |
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中图分类号: TP391
文献标识码: A
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| Application of Ultra-wideband Positioning Technology based on Kalman Filter |
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LIU Yongchang, GONG Yuanming
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(College of Automotive Engineering, Shanghai University of Engineering Science, Shanghai 201620, China)
yongchangsd@163.com; gongyuanming@tsinghua.org.cn
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| Abstract: This paper proposes to use ultra-wideband (UWB) positioning technology to improve the application model of ultra-wideband indoor positioning technology based on trilateral positioning technology. In this model, positioning data is collected based on TW-TOF (two-way time-of-flight method) and the trilateral positioning principle is used to calculate the coordinate position. Combined with Kalman filter algorithm, it solves the problems of large positioning error and positioning point drift caused by device's errors in the positioning model, further improving the positioning accuracy. On-site experiment shows that positioning accuracy of the positioning model can reach centimeter level, the error is less than 12 cm, and the mean square error of positioning after filtering is reduced by more than 38%. The proposed model has the advantages of simple and reliable positioning algorithm and small positioning error. This model provides a reference for application of indoor positioning technology. |
| Keywords: indoor positioning; ultra-wideband; Kalman filter; application model |
