基于二次解析的UWB室内定位高度方向优化方法  

Height-direction optimization method for ultra-wideband indoor positioning based on re-analysis

作　　者：徐晓苏[1,2] 刘兴华[1,2] 杨博 王帅[1,2] XU Xiaosu;LIU Xinghua;YANG Bo;WANG Shuai(Key Laboratory of Micro-inertial Instrument and Advanced Navigation Technology,Ministry of Education,Southeast University,Nanjing 210096,China;School of Instrument Science and Engineering,Southeast University,Nanjing 210096,China)

机构地区：[1]微惯性仪表与先进导航技术教育部重点实验室,南京210096 [2]东南大学仪器科学与工程学院,南京210096

出　　处：《中国惯性技术学报》2019年第5期589-597,共9页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金项目（51775110)

摘　　要：针对解析法处理具有高度限制的UWB室内三维定位时的高度方向精度不佳问题,通过对定位方程组的研究,着重分析了其内在原因,并提出了一种基于现有解析法的二次解析法。首先以常见的解析法得到目标点较为准确的水平方向的分量,然后在二次解析过程中采用修正偏差的Tikhonov正则化方法求解优化高度方向的分量。此方法可有效减少目标点高度分量的定位误差以及最终的定位误差。分别通过数学仿真平台和实验平台与传统解析法进行比较,验证了此方法的有效性。仿真与实验结果表明:所提出的方法能够将传统的解析法的定位精度提高40%以上。其中实验结果表明,所提方法的定位效果比最小二乘法提高52.1%,比Chan算法提高41.6%,具有很好的工程应用价值。In order to solve the problem of poor accuracy of height orientation when using analytical method to deal with UWB indoor 3D positioning with height limitation,the intrinsic factors of this problem are analyzed,and a re-analysis method based on the existing analytical method is proposed,in which the horizontal component of the target point is obtained by the common analytical method.Then,the Tikhonov regularization method of the modified deviation is used to solve the component of the optimized height direction in the secondary analysis process.The positioning error of the target in height component and the final positioning error can be reduced effectively by the proposed method.The effectiveness of this method is verified by comparing it with the traditional analytical method on the mathematical simulation platform and the experimental platform respectively.Simulation and experimental results show that the positioning accuracy is improved by more than 40%compared with traditional analytical methods.The experimental results show that the positioning effect of the proposed method is 52.1%better than that of the least square method,and 41.6%better than that of the Chan algorithm,which has good engineering application value.

关 键 词：超宽带 室内定位 TIKHONOV正则化 二次解析 高度定位 

分 类 号：U666.1[交通运输工程—船舶及航道工程]