基于冗余距离筛选的UWB定位优化方法  被引量:13

UWB positioning optimization method based on redundant distance screening

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作  者:张少辉 亓玉浩[3] 翟方文 吕洪波 宋亦旭[1] ZHANG Shaohui;QI Yuhao;ZHAI Fangwen;Lü Hongbo;SONG Yixu(Department of Computer Science and Technology,Tsinghua University,Beijing 100084,China;Equipment Management Center,Yanzhou Coal Mining Company Limited,Jining 273500,China;School of Information Engineering,China University of Geosciences,Beijing 100083,China;School of Mechanical and Material Engineering,North China University of Technology,Beijing 100144,China)

机构地区:[1]清华大学计算机科学与技术系,北京100084 [2]中国地质大学(北京)信息工程学院,济宁273500 [3]兖州煤业股份有限公司设备管理中心,北京100083 [4]北方工业大学机械与材料工程学院,北京100144

出  处:《清华大学学报(自然科学版)》2022年第5期934-942,共9页Journal of Tsinghua University(Science and Technology)

摘  要:超宽带(ultra wide band, UWB)定位技术根据距离参量建立标签定位的数学模型。由于测距误差的存在,标签定位的精确求解问题转换为非线性方程组的优化问题。在某项距离误差较大时,现有的优化方法可能会失效。该文提出基于冗余距离筛选的优化方法,以多个定位标签的间距为约束条件,对冗余距离设置权值进行筛选,使用梯度下降法优化Caffery方法计算的坐标初值。该方法在仿真实验中定位误差仅为Caffery-Taylor (CT)方法的70%,在真实数据实验中优化效果明显好于CT方法。Ultra wide band(UWB) positioning technology establishes a mathematical model of the target location based on distance parameters. The problem of accurately solving the tag point positioning is transformed into an optimization problem of nonlinear equations due to ranging errors. Existing optimization methods may fail when certain distance errors are large. Therefore, this paper proposes an optimization method based on redundant distance screening by considering the distances between multiple positioning tags as constraints, filtering the redundant distances by weighting, and using a gradient descent method to optimize the initial value calculated by the Caffery method. In simulation experiments, the positioning error of this method is only 70% of the Caffery-Taylor(CT) method. In real data experiments, this method outperforms the CT method in terms of the optimization effect.

关 键 词:超宽带(UWB) 位姿解算 距离筛选 梯度下降 

分 类 号:TN929[电子电信—通信与信息系统]

 

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