基于Chan和改进UKF的UWB室内混合定位算法  

Improved Chan-UKF UWB Indoor Positioning Algorithm

作　　者：杨紫阳 吴才章[1] 张弛 YANG Zi-yang;WU Cai-zhang;ZHANG Chi(College of Electrical Engineering,Henan University of Technology,Zhengzhou 450001,China)

机构地区：[1]河南工业大学电气工程学院,郑州450001

出　　处：《组合机床与自动化加工技术》2020年第12期65-69,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金项目(61078070);河南省科技厅自然科学项目(182102110461)。

摘　　要：为了解决超宽带室内定位技术因复杂环境影响产生的非视距(NLOS)误差导致定位精度下降的问题,文章提出了一种基于Chan-UKF的超宽带室内定位算法。首先,对超宽带模块获得的TDOA测量值利用Chan氏算法进行初步定位,通过比较设定的门限值与初步定位坐标残差的大小来鉴别NLOS误差,剔除含有较大NLOS误差的测量值;其次,使用简化计算状态预测向量及其协方差矩阵的UKF滤波算法对筛选出符合条件的TDOA测量值再次进行计算,得到目标节点的精确位置坐标。实验结果表明,该算法有效抑制了超宽带定位系统中复杂环境的干扰,消除了较大的NLOS误差,提高了定位精度,同时该算法提高了算法的计算效率,具有很好的稳定性。In order to solve the problem of non-line-of-sight error(NLOS)caused by the complex environmental impact caused by the ultra-wideband indoor positioning technology,the positioning accuracy is reduced.This paper proposes an ultra-wideband indoor positioning algorithm based on Chan-UKF.First,the Chan algorithm is used for preliminary positioning of the TDOA measurement value obtained by the ultra-wideband module.The NLOS error is identified by comparing the set threshold value with the size of the initial positioning coordinate residual,and the measurement value containing a large NLOS error is eliminated;Then use the UKF filter algorithm that simplifies the calculation of the prediction state vector and its covariance matrix to calculate the TDOA measurement values that meet the conditions to obtain the precise position coordinates of the target node.The experimental results show that the algorithm effectively suppresses the interference of the complex environment in the UWB positioning system,eliminate large NLOS errors,improve the positioning accuracy,and improve the algorithm's calculation efficiency and have good stability.

关 键 词：室内定位 超宽带 Chan氏算法 无迹卡尔曼滤波 非视距 

分 类 号：TH162[机械工程—机械制造及自动化] TG506[金属学及工艺—金属切削加工及机床]