UWB测距的遮蔽区界址点空地组网定位研究

Study on location of the space-to-ground network of the boundary point of the sheltered area based on UWB ranging

针对遮蔽区界址点定位,由于常规界址点测定方法受各种因素影响造成定位精度较低甚至无法定位的问题,该文提出了遮蔽区界址点空地组网定位模型及方法。该方法主要通过无人机搭载GNSS/UWB,配合地面界址点,按照单机绕飞,多点组网测距的方式完成界址点定位。首先构建遮蔽区空地组网定位几何网络结构,确定无人机组网形式;其次,基于UWB测距技术,提出UWB测距误差优化模型,通过抗差最小二乘算法完成界址点坐标解算;最后,设计仿真实验和实测实验。结果表明:该方法能有效实现半遮蔽区界址点定位,其中Y型和正方型网型定位效果更好,并且利用改正后的测距信息进行定位解算,能够有效提高半遮蔽区界址点定位精度和效率。

Aiming at the problem that the location accuracy of the boundary points in the shelter area is low or even unable to be located due to the influence of various factors by the conventional boundary point measurement methods,this paper proposes a model and method for the location of the boundary points in the shelter area in the air-ground network.This method mainly uses the UAV equipped with GNSS/UWB,cooperates with the ground boundary point,and completes the boundary point positioning according to the method of single-plane flying around and multi-point network ranging.Firstly,construct the geometric network structure of the air-ground network positioning in the sheltered area,and determine the network form of the UAV;Secondly,based on UWB ranging technology,an optimization model of UWB ranging error is proposed,and the boundary point coordinates are calculated by robust least squares algorithm;Finally,the simulation and measurement experiments are designed,and the results show that:this method can effectively locate the boundary points in the semi sheltered area,and the Y-type and the square network types have better positioning effect,and using the corrected range information to solve the location can effectively improve the location accuracy and efficiency of the boundary points in the semi sheltered area.