基于传统超宽带的室内高精度动态定位算法

A High-Precision Dynamic Indoor Localization Algorithm Based on UWB Technology

传统超宽带（ultra-wideband,UWB）室内定位算法在求解运动目标位置时没有考虑目标的运动信息,较难实现对动态目标,尤其是高速运动目标的高精度定位。针对上述问题,提出了一种顾及速度参数的UWB室内定位算法。该算法在估计目标位置的同时引入了目标的运动信息,建立考虑速度参数的观测方程,并根据经验模型对目标位置和速度参数添加先验约束,从而实现对运动目标的精确定位。实验结果表明,顾及速度参数的UWB室内定位算法可以充分利用目标运动的先验知识,实现对运动目标实时、稳定地高精度定位。

In traditional UWB（ultra-wideband）indoor localization algorithms,the motion information of the target is generally ignored,which makes it difficult to achieve highprecision positioning for dynamic targets,especially for highspeed moving targets.In this paper,a high-precision dynamic UWB indoor localization algorithm considering speed parameters is proposed.This algorithm introduces the motion information of the target to estimate its position via establishing observation equations with target’s speed parameter.Also,according to empirical models,the prior constraints are attached to the target position and the speed parameter so as to determine the position of the dynamic target precisely.The experimental results show that the proposed algorithm taking speed parameters into account can make full use of the prior knowledge of the target motion and achieve real-time,stable and high-precision localization for moving targets.