面向室内的基于异步UWB测距的椭圆位置估计算法

Indoor Asynchronous-UWB-Range-based Elliptical indoor Localization algorithm

为了实现简单而精确的室内定位,并利用超宽带信号UWB(ultra-wide band)的特性,提出了基于异步UWB测距的椭圆室内位置估计方案AUREP(Asynchronous–UWB Range-elliptical indoor Position)。该方案由位置定位器locator、目标节点、参考节点组成。定位器先发射UWB信号,一旦接收该信号,目标节点进行转发。参考节点捕捉来自定位器、目标节点的信号,并通过计算这两不同路径的信号TOA(Time of arrival)差,最后,采用高斯-牛顿迭代算法估计目标节点的位置。与同步的球形定位系统SGPS(Synchronous-global position systems)不同,提出的方案无需同步机制。AUREP方案采用异步模式、无需同步设备,简化了系统。仿真结果表明提出的AUREP方案的定位精度高于双曲线定位系统SHPS(Asynchronous–Hyperbola Position systems),同时,AUREP的定位误差逼近于克拉美-罗下限CRLB(Cramer-Rao lower bound)。

In order to realize the simple and accurate indoor positioning,with the characters of Ultra-wide band（UWB） signal,the asynchronous-UWB range-elliptical indoor position（AUREP） scheme is proposed in this paper.The AUREP consist of locator,reference-node and target-node.Locator firstly transmits the UWB signal,and received by target-node and retransmitted,reference-node received the signal from locator and target-node,and compute the different between TOA（Time of arrival）,finally,the position of the target-node estimated by Gauss-Newton.Compared with synchronous-global position systems（SGPS）,the AUREP is without synchronous mechanism.The AUREP adopt the asynchronous mechanism,without synchronous device,which make the systems simplified.Simulation result shows that the positional accuracy of the proposed AUREP outperform the asynchronous-Hyperbola Position systems（SHPS）,moreover,the position error of AUREP draw near the Cramer-Rao lower bound（CRLB）.