基于长距离UWB的无人水面艇定位技术研究  

Long-distance localization system applied to ocean unmanned surface vessel

作　　者：杨庆生 蔡文郁[1] 官靖凯 杨俊毅 YANG Qingsheng;CAI Wenyu;GUAN Jingkai;YANG Junyi(School of Electronic and Information,Hangzhou Dianzi University,Hangzhou Zhejiang 310018,China)

机构地区：[1]杭州电子科技大学电子信息学院,浙江杭州310018

出　　处：《杭州电子科技大学学报（自然科学版）》2021年第3期30-36,共7页Journal of Hangzhou Dianzi University：Natural Sciences

基　　金：国家自然科学基金资助项目(61871163,61801431)。

摘　　要：为了实现海面环境下无人水面艇(Unmanned Surface Vessel,USV)的实时精确定位,设计了一套基于超宽带(Ultra-Wideband,UWB)技术的USV定位系统。首先,在硬件电路上增加射频功率放大电路,扩大超宽带测距范围;其次,通过部署4个基站,使用到达时间(Time of Arrival,TOA)测量法对搭载信标的USV进行相对定位;再次,针对应用场景中基站的几何布局造成定位误差较大的问题,提出一种基于卡尔曼滤波测距优化和几何因子最优的三边定位算法;最后,运用双信标的定位坐标,解算出USV航向角度。实验结果表明,设计的USV定位系统显著提高了定位精度,50 m范围内实现了分米级的实时定位和航向计算。Real-time precise positioning technology of unmanned boats is not mature yet.In order to realize the real-time precise positioning of Unmanned Surface Vehicle(USV)on the sea,this paper designs a set of USV positioning system based on high-power ultra-wideband(UWB)technology.Firstly,add a radio frequency power amplifier circuit to the hardware circuit to expand the ultra-wideband ranging range,and then deploy 4 base stations to use the Time of Arrival(TOA)measurement method to relatively locate the USV with the beacon.Secondly,a trilateral positioning algorithm based on Kalman filter ranging optimization and geometric factor optimization is proposed to reduce positioning error caused by the geometric layout of the base station in the application scenario.Finally,use the positioning coordinates of the dual beacons to calculate the USV heading angle.Experimental results show that the USV positioning system uses an optimized trilateral positioning algorithm,which significantly improves the positioning accuracy,and realizes real-time positioning and heading calculation of the USV decimeter level within a range of 50 m.

关 键 词：无人水面艇 超宽带技术 三边定位 到达时间定位 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]