基于UKF优化多三角加权定位算法的UWB室内定位系统设计  

Design of UWB Indoor Positioning System Based on UKF Optimized Multi-triangular Weighted Algorithm

作　　者：陈静[1] 缪坤坤 FELIX Manirankunda CHEN Jing;MIAO Kunkun;FELIX Manirankunda(College of Electrical and Information Engineering,Anhui University of Science and Technology,Huainan 232001,China)

机构地区：[1]安徽理工大学电气与信息工程学院,安徽淮南232001

出　　处：《无线电工程》2023年第3期669-677,共9页Radio Engineering

基　　金：国家自然科学基金(51874010);安徽省教育厅自然科学基金(KJ2018A0087)。

摘　　要：为了减小基于超宽带(Ultra-Wideband,UWB)通信技术的室内定位中由非视距(Non-Line-of-Sight,NLOS)因素导致的误差,提出了一种多三角加权定位算法,并将该算法与无迹卡尔曼滤波(Unscented Kalman Filter,UKF)结合,进一步提出多三角加权UKF定位算法。多三角加权定位算法使用4个基站,其中每3个基站分为一组,共4组排列组合。每组基站用三边定位算法算出标签的初始坐标,根据标签到4个基站的距离计算初始坐标的权值,并进行加权计算得到标签的坐标。以多三角加权定位算法的定位结果作为UKF的观测值,使用UKF对多三角加权算法的结果进行修正,提高定位精度,减小定位波动。对比三边定位算法、多三角加权定位算法和UKF优化的多三角加权定位进行仿真和实验。结果表明,提出的多三角加权UKF算法定位精度有较大提高。In order to reduce the error caused by Non-Line-of-Sight(NLOS)factor in indoor positioning based on Ultra-Wideband(UWB)communication technology,a multi-triangular weighted positioning algorithm is proposed,and the algorithm is combined with Unscented Kalman Filter(UKF)to further propose a multi-triangular weighted UKF positioning algorithm.In the multi-triangular weighted positioning algorithm,four base stations are used,of which every three base stations are divided into a group,and there are four groups in total.The initial coordinates of the labels are calculated by adopting a trilateral positioning algorithm for each group of base station,the weights of the initial coordinates are obtained by calculating the distances of the label to the four base stations,and the coordinates of the label are determined by conducting weighted calculation.The positioning result of the multi-triangular weighted positioning algorithm is used as the observation value of UKF,and the result of the multi-triangular weighting algorithm is modified by UKF to reduce the positioning fluctuation and improve the positioning accuracy.For comparing the trilateral positioning algorithm,multi-triangular weighted positioning algorithm,and multi-triangular weighted UKF positioning algorithm,simulation experiments are carried out.The results show that the positioning accuracy of the multi-triangular weighted UKF algorithm has been greatly improved.

关 键 词：超宽带 三边定位 多三角加权定位算法 无迹卡尔曼滤波 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]