UWB测距误差建模及其长期改正精度研究  

Study on UWB ranging error modeling and its long-term correction accuracy

作　　者：崔晓航 李得海[1] 赵春梅[1] 秘金钟[1] 吴文坛 陈永立 王洪杰 王维帅 CUI Xiaohang;LI Dehai;ZHAO Chunmei;BEI Jinzhong;WU Wentan;CHEN Yongli;WANG Hongjie;WANG Weishuai(Chinese Academy of Surveying and Mapping,Beijing 100036,China;Hebei Natural Resources Archives,Shijiazhuang 130100,China;The First Institute of Surveying and Mapping of Hebei Province,Shijiazhuang 050031,China)

机构地区：[1]中国测绘科学研究院,北京100036 [2]河北省自然资源档案馆,石家庄130100 [3]河北省第一测绘院,石家庄050031

出　　处：《导航定位学报》2025年第1期30-38,60,共10页Journal of Navigation and Positioning

基　　金：国家重点研发计划课题(2021YFB3900803);国家自然科学基金项目(42174033);基本科研业务费项目(AR2102);河北省自然资源厅科技项目(13000023P00EEC410189U)。

摘　　要：针对超宽带(UWB)技术室内高精度定位测距易受信号往返时延测量误差影响的问题,研究UWB测距误差建模及其长期改正精度:构建UWB测距误差模型,并利用建模系数研究跨天、周、季UWB测距误差改正效果;然后提供不同模型的建模精度和不同跨天间隔下的改正精度。实验结果表明:原始UWB测距值经过系统误差建模后精度可提升约3倍,二次多项式建模精度略优于一次多项式;利用模型系数跨天、周、季改正UWB测距误差,模型改正后测距精度可提升2~3倍,且一次多项式和二次多项式改正精度无显著差异;随着跨天间隔增加,利用模型系数跨天改正UWB测距的残差中误差未出现一致增大趋势;利用模型系数对长期定位实验测距误差进行补偿改正,改正前后定位精度变化与测距误差改正前后一致,验证了误差改正模型对定位精度提升的有效性。Aiming at the problem that indoor high-precision positioning and ranging using ultra-wideband(UWB)technology is easily affected by signal round-trip delay measurement errors,the paper studied the UWB ranging error modeling and its longterm accuracy correction:a UWB ranging error model was constructed,and the correction effects of UWB ranging errors across days,weeks and seasons using modeling coefficients were given;then,the modeling accuracy of different models and the correction accuracy under different cross day intervals were provided.Experimental results showed that the accuracy of the original UWB ranging values would be improved by about 3 times after systematic error modeling,and the accuracy of quadratic polynomial modeling would be slightly better than that of first-order polynomial modeling;by using model coefficients to correct UWB ranging errors across days,weeks and seasons,the ranging accuracy would be improved by 2~3 times after model correction,and there would be no significant difference in accuracy between first-order and second-order polynomial corrections;furthermore,as the inter day interval increases,there would be no consistent increase trend in the residual mean square error of UWB ranging corrected using model coefficients across days;in general,by using model coefficients to compensate and correct the distance measurement errors in long-term positioning experiments,the changes in positioning accuracy before and after correction could be consistent with those before and after distance measurement error correction,verifying the effectiveness of the error correction model in improving positioning accuracy.

关 键 词：超宽带(UWB)技术测距 误差分析 误差建模 二次多项式 多期改正 

分 类 号：P228[天文地球—大地测量学与测量工程]