基于TOA的迭代最小二乘定位算法研究  

Research on TOA-based iterative least squares positioning algorithm

作　　者：陈浩 连增增[1] 董佳琪 贺刘辉 赵辰瑞 CHEN Hao;LIAN Zengzeng;DONG Jiaqi;HE Liuhui;ZHAO Chenrui(School of Surveying and Land Information Engineering,Henan Polytechnic University,Jiaozuo,Henan 454003,China;School of Environment and Spatial Informatics,China University of Mining and Technology,Xuzhou,Jiangsu 221116,China)

机构地区：[1]河南理工大学测绘与国土信息学院,河南焦作454003 [2]中国矿业大学环境与测绘学院,江苏徐州221116

出　　处：《导航定位与授时》2024年第5期17-24,共8页Navigation Positioning and Timing

基　　金：国家自然科学基金(42374029);河南省自然科学基金(202300410180);河南省高校基本科研业务费专项资金(NSFRF230405);河南理工大学2017年度博士基金资助项目(B2017-10);河南理工大学青年骨干教师资助计划(2022XQG-08)。

摘　　要：室内环境中基站与标签之间的距离会受到随机误差的影响,针对超宽带(UWB)系统的定位特性,提出了一种迭代加权最小二乘(IRLS)算法削弱测距随机误差的影响。首先,利用加权最小二乘算法获得标签的三维坐标。其次,通过构建中间变量,利用中间变量与位置坐标的关系构造迭代关系,并通过迭代计算提高标签三维坐标点位精度,得出最优解。仿真结果表明,在静态定位实验中,IRLS算法与经典最小二乘(LS)算法的平均点位误差分别为11.96 cm和13.42 cm,IRLS算法的定位结果优于LS算法;在动态定位实验中,经过卡尔曼滤波算法平滑处理后,IRLS算法的点位精度相比经典LS算法提升了12.82%。因此,IRLS算法可以显著提高UMB定位系统的点位精度。The distance between the base station and the tag in an indoor environment is affected by random errors.An iterative reweighted least squares(IRLS)algorithm is proposed to mitigate the influence of random range errors on the positioning characteristics of the ultra-wideband system.Firstly,the weighted least squares algorithm is used to obtain the three-dimensional coordinates of the tag.Secondly,by constructing intermediate variables,the iterative relationship is constructed by using the relationship between intermediate variables and position coordinates,and the accuracy of the three-dimensional coordinates of the tag is improved by iterative calculation,and the optimal solution is obtained.The simulation results show that in the static positioning experiment,the average point errors of the iterative reweighted least squares algorithm and the classical least squares(LS)algorithm are 11.96 cm and 13.42 cm,respectively.The positioning result of the iterative reweighted least squares algorithm is better than that of the least squares algorithm.In the dynamic positioning experiment,after smoothing by the Kalman filter algorithm,the point accuracy of the iterative reweighted least squares algorithm is 12.82%higher than that of the classical least squares algorithm.Therefore,the IRLS algorithm can significantly improve the point accuracy of the UWB positioning system.

关 键 词：迭代加权 加权最小二乘 超宽带系统 TOA测距 

分 类 号：V249.31[航空宇航科学与技术—飞行器设计]