基于改进全质心-Taylor的UWB定位方法  

Improved full-centroid-Taylor based UWB localization

作　　者：杨秀建[1] 皇甫尚昆 敖鹏 颜绍祥 Yang Xiujian;Huangfu Shangkun;Ao Peng;Yan Shaoxiang(Faculty of Transportation Engineering,Kunming University of Science and Technology,Kunming 650500,China)

机构地区：[1]昆明理工大学交通工程学院,昆明650500

出　　处：《仪器仪表学报》2024年第10期284-294,共11页Chinese Journal of Scientific Instrument

基　　金：国家自然科学基金(52162046)项目资助。

摘　　要：针对非视距(NLOS)、多径效应等因素对超宽带(UWB)定位精度的影响,提出了一种基于改进全质心结合Taylor的UWB协同定位算法。立足于3个及以上数量的定位基站,将所有基站每3个分为一组,通过双边双向法解算各组的测距数据并基于全质心算法计算相应的全质心坐标值,然后通过模拟退火算法对“伪质心”点坐标进行优化。将优化结果作为第1个初值进行Taylor展开迭代求解,得到第2个初值;进一步地,将第2个初值作为量测值,结合粒子滤波进行优化,得到载体运动时每一点的精确定位坐标。仿真和实验结果表明,与传统结合Taylor展开方法的Chan-Taylor和加权最小二乘-Taylor的UWB定位算法相比,所提算法在静态和动态定位场景下定位精度均有明显优势,经粒子滤波后可有效提高复杂场景下的定位精度,体现出了较高的鲁棒性。To address inaccurate positioning caused by non-line-of-sight(NLOS)and multipath effects,we propose an enhanced cooperative ultra-wideband(UWB)positioning algorithm based on the full-centroid-Taylor approach.In scenarios involving three or more positioning base stations,the stations are grouped into sets of three.For each group,ranging data is initially processed using the bilateral bi-directional method,and positioning coordinates are then estimated using the full-centroid algorithm.The coordinates of the‘pseudo-centroid’point are subsequently optimized using a simulated annealing algorithm.This optimized result serves as the initial value for a Taylor series expansion,which provides a refined initial estimate.Particle filtering is then applied using this refined value to obtain precise positioning coordinates during carrier movement.Simulation and experimental results indicate that,compared to traditional UWB positioning algorithms based on Chan-Taylor and WLS-Taylor methods,the proposed algorithm significantly improves positioning accuracy in both static and dynamic scenarios.Furthermore,the application of particle filtering enhances positioning accuracy in complex environments,demonstrating the robustness of the algorithm.

关 键 词：无人车辆 超宽带 室内定位 全质心算法 粒子滤波 

分 类 号：TH70[机械工程—仪器科学与技术] TN92[机械工程—精密仪器及机械]