基于UWB的室内协同定位方法

Indoor Cooperative Positioning Method Based on UWB

全球定位系统(Global Positioning System,GPS)在室外可以取得良好的定位效果,然而由于室内环境复杂、存在严重的多径和非视距干扰,GPS无法覆盖,难以实现高精度定位。针对这一问题,将超宽带(Ultra-Wide Bandwidth,UWB)技术和协同定位技术(Cooperative Positioning,CP)应用到室内定位中,并引入最小二乘残差法对测距误差较大的节点进行剔除,从而提出一种基于UWB的室内协同定位方法。该方法下,目标节点之间可以相互收发对方的测量数据,能够使不在参考节点传输距离内的节点也能定位,同时舍去测距误差较大的节点信息,能够有效地提高系统的定位精度。

The Global Positioning System（ GPS） can achieve excellent positioning performance in outdoor environment,however,it is difficult to realize high-accuracy positioning for the GPS-denied indoor environment,due to its complex environment,serious multipath and non-line of sight. To solve this problem,Ultra-Wide Bandwidth（ UWB） and Cooperative Positioning（ CP）techniques are applied to indoor positioning,and the least squares residuals method is introduced to eliminate the nodes with large ranging errors,therefore an indoor CP method based on UWB is proposed. With this method,target nodes can communicate their measurements,which make the nodes that are not within the reference node＇s transmission distance can also be located,at the same time,the nodes with large ranging error is discarded. The positioning accuracy of the system could be improved effectively.