干扰条件下UWB三维定位算法  

UWB 3D Localization algorithm under interference conditions

作　　者：王小月 薛帅康 章强 刘微雪 许致火 Wang Xiaoyue;Xue Shuaikang;Zhang Qiang;Liu Weixue;Xu Zhihuo(School of Transportation and Civil Engineering,Nantong University,Nantong 226019,China;School of Information Science and Technology,Nantong University,Nantong 226019,China)

机构地区：[1]南通大学交通与土木工程学院,南通226019 [2]南通大学信息科学技术学院,南通226019

出　　处：《电子测量技术》2022年第17期101-106,共6页Electronic Measurement Technology

基　　金：国家自然科学基金(61801247);2022年广东蓝色畅想文化投资有限公司-教育部产学合作协同育人项目资助。

摘　　要：在室内环境下,超宽带(UWB)信号常受到遮挡物干扰影响,进而导致测量距离数据异常以及产生虚假延时,导致定位性能下降。针对这一问题,本文提出了抗干扰的UWB三维定位方法。首先,以数据间的欧式距离作预处理,建立了K-means模型剔除了错误的观测数值。其次,利用L2范数正则化方法改进了常规的最小二乘定位方法。最后,为了验证该方法的有效性,本文设计了无人机在室内三维定位的一个应用实例,在无干扰和有干扰的条件下分别收集了无人机的飞行数据,然后应用提出的数据预处理方法消除了异常的数据,并利用改进的最小二乘法对这两种情况下无人机的位置进行估计。实例结果表明本文提出方法的有效性,可在干扰环境下提高UWB三维定位精度。In indoor environment,the ultra-wide band(UWB)signal is often affected by the interference from the occluding objects,which leads to the anomaly of the measured distance data and spurious delay,resulting in the degradation of the positioning performance.Firstly,a K-means model is developed to reject the false observation values by preprocessing the Euclidean distance between data.Secondly,the conventional least-squares localization method is improved by using the L2 norm regularization method.Finally,in order to verify the effectiveness of the method,an application example of indoor 3 D positioning of an unmanned aerial vehicle(UAV)is designed in this paper.The flight data of UAV are collected under the conditions of no interference and interference,and then the proposed data preprocessing method is applied to eliminate the abnormal data and estimate the position of UAV in both cases using the improved least squares method.The results of the practical example show the effectiveness of the proposed method,which can improve the UWB 3 D positioning accuracy under the interference environment.

关 键 词：UWB 干扰 室内定位 K-MEANS聚类 改进最小二乘法 L2范数正则化 

分 类 号：TN959.1[电子电信—信号与信息处理]