标签高度差的UWB室内定位方法  

UWB indoor positioning method considering difference of height

作　　者：岳俊升 程钢[1,2,3] 邓超 YUE Junsheng;CHENG Gang;DENG Chao(School of Surveying and Mapping and Land Information Engineering,Henan Polytechnic University,Jiaozuo,Henan 454000,China;Henan Provincial Key Laboratory of Mine Space Information Technology,Henan Polytechnic University,Jiaozuo,Henan 454000,China;School of Geospatial Information,Information Engineering University,Zhengzhou 450001,China)

机构地区：[1]河南理工大学测绘与国土信息工程学院,河南焦作454000 [2]河南理工大学矿山空间信息技术河南省重点实验室,河南焦作454000 [3]信息工程大学地理空间信息学院,郑州450001

出　　处：《导航定位学报》2019年第3期44-50,共7页Journal of Navigation and Positioning

基　　金：国家自然科学基金资助项目(41001226);中国博士后科学基金面上资助项目(2015M582831);北部湾环境演变与资源利用教育部重点实验室开放基金项目(2014ESPKF08);教育部人文社会科学研究青年基金项目(15YJCZH018);河南省科技攻关项目(162102210063);河南省高等学校骨干教师资助计划项目(2012GGJS-055)

摘　　要：针对室内复杂定位场景中3维定位计算复杂度高、2维定位精度较低的问题,面向智慧仓储的物流车快速定位提出一种考虑高度差的超宽带室内定位算法,采用一种介于2、3维之间的2.5维到达时间差定位算法,利用泰勒级数展开法求解非线性观测值方程,得到标签的位置坐标。实验结果表明,通过在2维定位算法中增加高度差影响因子,能有效降低因标签与基站高度差异带来的2维定位误差和因3维解算效率低带来的定位延时,提高室内定位的准确性和实时性。Aiming at the problems of the high computational complexity of three-dimensional positioning and the low precision of two-dimensional positioning in complex indoor positioning scenarios,the paper proposed a UWB indoor positioning algorithm considering the difference in height for the rapid positioning of logistics vehicles oriented to intelligent storage:a 2.5 dimensional time difference of arrival(TDOA)positioning algorithm was adopted,and Taylor series expansion method was used to solve the nonlinear observation equation;then the position coordinates of tags were obtained.Experimental result showed that the proposed method could effectively reduce the two-dimensional positioning errors caused by the difference between the tag and the base station height and the localization delay caused by the low efficiency of three-dimensional solution by adding the influence factor of height difference in the two-dimensional localization algorithm,and improve the accuracy and real-time of indoor positioning.

关 键 词：超宽带 室内定位 2.5维定位 高度差 定位误差 

分 类 号：P228[天文地球—大地测量学与测量工程]