室内超宽带测距定位及NLOS抑制方法  

Indoor ultra-wideband ranging and localization method with NLOS mitigation

作　　者：隋心[1] 史政旭 王长强[1] 田曦 高嵩 SUI Xin;SHI Zhengxu;WANG Changqiang;TIAN Xi;GAO Song(School of Geomatics,Liaoning Technical University,Fuxin 123000,China)

机构地区：[1]辽宁工程技术大学测绘与地理科学学院,辽宁阜新123000

出　　处：《测绘通报》2024年第10期103-109,共7页Bulletin of Surveying and Mapping

基　　金：国家自然科学基金(42074012);辽宁省“兴辽英才计划”项目(XLYC2002101,XLYC2008034)。

摘　　要：针对UWB定位过程中易受NLOS等误差影响导致定位精度和稳定性下降,并且现有的NLOS识别剔除方法模型复杂、环境依赖性强等问题,本文提出一种信道特征二元假设和基于滑窗改进的UWB自主完好性监测相结合的误差识别剔除方法。该方法首先通过信道特征二元假设对粗差、部分NLOS误差识别剔除,在提升数据质量的同时能够最大限度地降低UWB定位自主完好性监测的单测距值故障假设的局限性;然后针对量级较小的NLOS误差,仍然存在识别不敏感问题,因此,结合滑窗改进的UWB定位自主完好性监测方法;最后在UWB定位自主完好性监测方法的基础上引入测距精度提升监测性能,并结合滑窗理论降低漏检情况,能够针对信道特征二元假设方法未识别的NLOS测距值进行有效识别剔除,实现对NLOS误差的进一步识别剔除。试验结果表明,本文方法能够对NLOS等误差进行有效识别剔除,提高UWB定位精度和可靠性。Aiming at the issues of accuracy and stability being easily affected by NLOS errors in the UWB positioning process,and existing methods of NLOS recognition and removal having complex models and strong environmental dependence,This paper proposes a method for recognizing and removing errors,which combines the a channel characteristic binary hypothesis with an improved UWB autonomous integrity monitoring based on sliding windows.First,this method focuses on identifying and removing significant errors,including gross errors and partial NLOS errors,leveraging the binary assumption of channel characteristics.By doing so,it enhances data quality and reduces the constraints associated with the single ranging fault assumption in UWB localization autonomous integrity monitoring.However,it still faces the challenge of insensitive identification for small-scale NLOS errors.Therefore,by combining the improved UWB localization autonomous integrity monitoring method,which can efficiently identify and remove NLOS ranging values that may not be recognized by the binary assumption method of channel characteristics.Distance measurement accuracy was introduced in the process of constructing inspection factors in autonomous integrity monitoring methods in order to improve accuracy of global test and fault positioning.And the method combines sliding window theory to reduce the missed detection of NLOS,achieving further identification and elimination of NLOS.Experimental results show that the proposed method in this paper is capable of effectively identifying and discarding outlier range measurements containing errors such as NLOS,thereby improving the accuracy and reliability of UWB positioning.

关 键 词：UWB NLOS SNR 改进自主完好性监测 

分 类 号：P228[天文地球—大地测量学与测量工程]