UWB测距的NLOS误差削弱方法  

A method of NLOS error inhibition for UWB ranging

作　　者：王长强[1] 徐爱功[1] 隋心[1,2] 

机构地区：[1]辽宁工程技术大学测绘与地理科学学院,辽宁阜新123000 [2]武汉大学卫星导航定位技术研究中心,武汉430079

出　　处：《导航定位学报》2017年第3期24-27,32,共5页Journal of Navigation and Positioning

基　　金：国家重点研发计划项目(2016YF C0803102);辽宁省高等学校创新团队项目(LT2015013)

摘　　要：为了提高UWB室内定位系统的精度,提出一种偏移卡尔曼滤波方法:将测距残差与卡尔曼滤波结合,鉴别出NLOS误差,并将残差值加入到卡尔曼滤波的迭代中以修正卡尔曼滤波的异常值,从而实时抑制NLOS误差,提高UWB室内定位精度。实验结果表明,该方法能有效抑制NLOS误差的影响,提高NLOS传播环境下的定位精度。In order to improve the accuracy of UWB indoor positioning system,the paper proposed a method of biased Kalman filtering：Kalman filter was combined with ranging residual,the NLOS error was identified,and then the residual was added to the interation of Kalman filter to modify the abnormal values for real-time restraining NLOS errors and improving the indoor positioning accuracy of UWB.Experimentsal result showed that the proposed method ould effectively inhibit the influences of NLOS errors and improve the locationing accuracy under the environment of NLOS propagation.

关 键 词：UWB 非视距误差 测距残差 卡尔曼滤波 

分 类 号：P228[天文地球—大地测量学与测量工程]