基于VBKF-CPA-TSA算法的UWB定位技术  

A UWB localization technique based on the VBKF-CPA-TSA algorithm

作　　者：曹波 朱万洁 姜春霞 张华 李蒙 Cao Bo;Zhu Wanjie;Jiang Chunxia;Zhang Hua;Li Meng(School of Mechanic Engineering,Anhui Science and Technology University,Chuzhou 233100,China;School of Mechanical Engineering,Anhui University of Technology,Maanshan 243002,China)

机构地区：[1]安徽科技学院机械工程学院,滁州233100 [2]安徽工业大学机械工程学院,马鞍山243002

出　　处：《仪器仪表学报》2023年第10期120-129,共10页Chinese Journal of Scientific Instrument

基　　金：安徽省科技厅自然科学面上项目(2308085ME150);安徽省教育厅重点项目(2022AH051636);滁州市人才项目(JXWD202201,881208)资助。

摘　　要：设施内移动农业设备的精准定位是农业智能化、无人化发展的关键。针对设施内GPS拒止环境下农业设备的定位问题,提出利用超宽带(UWB)系统构建设施内移动农业设备的导航定位系统。为了提高移动农业设备的定位精度,提出利用变分卡尔曼滤波(VBKF)对UWB系统的4个测量距离进行平滑处理,提高测量距离的估计精度,采用全质心定位算法(CPA)求解目标节点的位置坐标;为了进一步提高定位精度,利用改进的泰勒级数优化算法(TSA)对VBKF-CPA方法的定位结果进行优化处理。以移动机器人为实验平台,利用UWB系统在室内开展了动静态模拟实验,验证所提方法的有效性。实验结果表明,VBKF-CPA-TSA算法能提升目标节点的定位精度,获得较稳定的定位结果,x轴、y轴、z轴的平均误差由0.085、0.071、0.064 m减小为0.034、0.032、0.028 m,平均估计精度分别提高了60%、54.9%、56.3%;VBKF-CPA-TSA算法的动态定位轨迹更逼近真实轨迹,表明所提定位算法能提高设施内UWB系统的定位精度,该方法为设施内GPS拒止环境中移动农业设备的定位提供新方法。The accurate positioning of mobile agricultural equipment in the facilities is the key to the development of intelligent and unmanned agriculture.In view of the positioning problem of agricultural machinery in the facility in a GPS-denied environment,the ultra-wide band(UWB)system is proposed to establish the navigation and positioning system of agricultural machinery in the facility.To improve the positioning accuracy of agricultural machinery equipment,the variational Bayesian Kalman filtering(VBKF)is utilized to smooth the four measured distances of the UWB system to enhance the estimation accuracy of the measured distance,and the centroid positioning algorithm(CPA)is used to calculate the position coordinates of the target node(TN).To further improve the positioning accuracy,an improved Taylor series algorithm(TSA)is implemented to optimize the localization results of the VBKF-CPA method.With the mobile robot as the experimental platform,the dynamic and static simulation experiments are conducted indoors by using the UWB positioning system to evaluate the effectiveness of the proposed method.The experimental results show that the VBKFCPA-TSA algorithm can improve the positioning accuracy of the TN and obtain more stable localization results.The mean error on the x-,y-,and z-axis are reduced from 0.085,0.071,and 0.064 m to 0.034,0.032,and 0.028 m,and the average estimation accuracies are increased by 60%,54.9%,and 56.3%,respectively.The dynamic localization trajectory of the VBKF-CPA-TSA algorithm is closer to the real movement trajectory,which verifies that the proposed positioning algorithm is able to ameliorate the positioning accuracy of the UWB system in the agricultural facilities and provide a novel method for agricultural mechanical positioning in GPS-denied environment.

关 键 词：超宽带 移动式农业设备 变分卡尔曼滤波 定位精度 泰勒级数算法 

分 类 号：TH701[机械工程—仪器科学与技术] TD421[机械工程—精密仪器及机械]