UWB TW-TOA测距误差分析与削弱  

Error Analysis and Weakening of UWB TW-TOA Ranging

作　　者：范强[1] 张涵[1] 隋心[1] FAN Qiang ZHANG Han SUI Xin(School of Geomatics, Liaoning Technical University, Fuxin 123000, China)

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

出　　处：《测绘通报》2017年第9期19-22,50,共5页Bulletin of Surveying and Mapping

基　　金：大学生创新创业训练计划项目(201610147000078)

摘　　要：针对室内环境下UWB TW-TOA测距精度受标准时间偏差和NLOS误差影响明显的问题,采用4阶多项式拟合模型对标准时间偏差进行标定,设计了一种新的基于偏移卡尔曼滤波的NLOS误差鉴别与抑制方法。该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,修正卡尔曼滤波的异常值,得到消除NLOS的测量值。利用实测试验对以上算法进行验证,结果表明经过标准时间偏差标定及NLOS误差的鉴别与抑制后,在LOS环境下,UWB TW-TOA测距精度可达到毫米级;在NLOS环境下,测距精度可由原来的0.5 m缩小至0.2 m,证明了本文方法的正确性和可行性。In allusion to the UWB TW-TOA distance measurement is affected by the standard time deviation and the NLOS error obviously, this paper adopted fourth order poly nomial fitting model to demarcate the standard time deviation, designed a new method to identify NLOS error and restrained it based on the migration of Kalman filtering.This method combined the distance measuring residual with Kalman filtering, to distinguish the NLOS error, and put the residual into the iterative Kalman filter, modified Kalman filter oufliers, got the measured value which is eliminated by NLOS error.By using the measured experiments to validate the above algorithm, results show that after a standard time calibration and NLOS error identification and suppression, the distance measurement precision of the UWB TW-TOA can reach millimeter level in the LOS conditions, and in the NLOS surroundings, the distance measurement can reach 0.2 m compared to the 0.5 m before.All these prove that the method of this paper is correct and feasible.

关 键 词：UWB TW-TOA 标准时间偏差 NLOS误差 偏移卡尔曼滤波 

分 类 号：P228[天文地球—大地测量学与测量工程]