基于TOF和RSSI的融合测距算法实现

Implementation of fusion ranging algorithm based on TOF and RSSI

为了提高无线测距的精度和稳定性,设计并在LoRa测距系统上实现了一种基于飞行时间(time of flight,TOF)法和接收信号强度指示(received signal strength indicator,RSSI)法的融合测距算法。该算法首先应用TOF方法和RSSI方法测量初始距离;其次,基于高斯模型选取发生在高概率区的初始距离测量值,得到其统计平均值,求出测量距离的最优值;最后,对测量距离最优值进行加权融合,得到最优距离的估计值。实验结果表明,相比于单一的RSSI和TOF算法,所提融合算法在近距离段和远距离段的测距精度较高,在50m范围内的测距精度可达到2m;在中间距离段的测距稳定性有所提升。所提的融合算法提高了无线测距的精度和稳定性。

To improve the accuracy and stability of wireless ranging, a fusion ranging algorithm based on time of flight （TOF） method and received signal strength indicator （RSSI） method is designed and implemented on LoRa ranging system. The TOF method and the RSSI method are firstly used in this algorithm to measure the initial distance. Secondly, based on the gaussian model, the initial distance measurement value in the high probability region is selected to obtain the statistical average value and the optimal value of the measurement distance. Finally, the opti mal value of the measured distance is weighted and fused to obtain the estimated value of the opti- real distance. The experimental results show that compared with the single RSSI and TOF algo- rithm, there is a higher range accuracy in the proposed fusion algorithm in both the near distance segment and the long distance segment, The range accuracy within the range of 50 m can reach 2 m, and the range stability is improved at the middle distance. The accuracy and stability of wire less ranging are both improved in the proposed fusion algorithm.