一种基于UWB的三边定位改进算法

An improved trilateral positioning algorithm based on UWB

针对现有基于UWB的井下定位算法存在算法复杂且求解值不是全局最优的问题,提出了一种基于UWB测距的三边定位改进算法。该算法基于DW1000芯片和三边定位算法,采用双边双向测距方法测距,以求解二元二次方程最优解为目标,设定优化目标函数,将坐标二维化处理,降低了算法的复杂度;筛除测量过程中产生的无效数据,确定有效搜索区域并在该区域内进行全局遍历,找到最优定位坐标,解决了求解值不是全局最优的问题。同时,为了进一步提高定位精度,采取了适当增加参考节点数量的措施。实验结果表明,该算法平均误差小于加权三边定位算法、泰勒算法,定位精度提升明显;该算法还具有较强的实用性,通过增加参考节点数量可有效提高测量精度。

In view of the problems that existing underground positioning algorithm based on UWB is complex and solution value is not global optimal,an improved trilateral positioning algorithm based on UWB was proposed.The algorithm is based on DW1000chip and trilateral positioning algorithm,adopts bilateral two-way ranging method.Optimization objective function is set by solving the optimal solution of binary quadratic equation,and coordinate is two-dimensional,so as to reduce complexity of the algorithm.The invalid data generated in measurement process were screened out,effective search area is determined,and global traversal is conducted in the effective area to find global optimal positioning coordinates,which solves the problem that solution value is not global optimal.At the same time,in order to further improve positioning accuracy,appropriate measures are taken to increase the number of reference measurement nodes.The experimental results show that the average error of the proposed positioning algorithm is lower than that of the weighted trilateral positioning algorithm and the Taylor algorithm,and the positioning accuracy is improved obviously.Meanwhile,the algorithm has strong practicability,and measurement accuracy can be effectively improved by increasing the number of reference nodes.