动态环境下UWB测距的NLOS影响分析与优化  

NLOS Influence Analysis and Optimization of UWB Ranging in Dynamic Environment

作　　者：谢飞[1] 周敬龙 李文锋[1] 张强[1] XIE Fei;ZHOU Jing-long;LI Wen-feng;ZHANG Qiang(School of Transportation and Logistics Engineering,Wuhan University of Technology,Wuhan 430063,China)

机构地区：[1]武汉理工大学交通与物流工程学院,武汉430063

出　　处：《武汉理工大学学报》2022年第1期80-87,共8页Journal of Wuhan University of Technology

基　　金：国家重点研发计划(2019YFB1600400);中国残联研究课题残疾人辅助器具专项研究课题(CJFJRRB01-2019)。

摘　　要：针对动态环境下超宽带(Ultra Wide Band,UWB)测距易受到非视距(Not Line of Sight,NLOS)因素影响的问题,基于非对称双边双向测距(Asymmetric Double-Sided Two-Way Ranging,ADS-TWR)算法设计实验以探究常见NLOS因素(钢板、人体、木板)对UWB测距的影响。实验结果表明:NLOS对测距的影响程度不仅与遮挡物性质有关,还与其位置相关,在1.6m范围内越靠近UWB节点,NLOS误差越显著,超过1.6m后测距结果在一定程度上能够满足测距需求;在节点间距动态变化过程中出现NLOS因素时,测距输出值变化速率显著增大。根据分析所得动态NLOS误差特征,提出一种NLOS快速判断方法,设计自适应状态更新方程的卡尔曼滤波消减NLOS影响,经实验验证可提升50%以上的测距精度。Addressing the vulnerability of UWB ranging to NLOS factors in dynamic environments,experiments are designed based on ADS-TWR algorithm to investigate the effect of common NLOS factors on UWB ranging,mainly including steel plate,human body and wood board.The experimental results show that the impact of NLOS on ranging is not only related to the nature of the shelter,but also related to its position.The closer the UWB node is to the 1.6mrange,the more significant the NLOS error is,and beyond 1.6mthe range results can meet the range requirements to some extent.The variation of the ranging output value increases significantly when the NLOS factor appears during the node spacing variation.According to the dynamic NLOS error characteristics obtained from the analysis,a fast NLOS judgment method is proposed,and the Kalman filter with adaptive state update equation is designed to eliminate the NLOS influence,which is verified by experiments can improve the range accuracy of NLOS phase by more than 50%.

关 键 词：UWB测距 NLOS误差 ADS-TWR 卡尔曼滤波 动态环境 

分 类 号：TN925[电子电信—通信与信息系统]