基于TOF模式的UWB定位原理与精度验证

Principle and Precision Verification of UWB Positioning Based on TOF

通过分析基于飞行时间(time of flight,TOF)的超宽带(ultra wide band,UWB)距离测量的特性,利用卡尔曼滤波及其变式处理原始TOF测距值,剔除TOF测距粗差并对距离观测值进行降噪处理以减小观测误差的影响;同时利用已知长度分析多路径效应和非视距环境等对TOF测距系统误差的影响规律。基于该实验数据的定位结果表明,在较好地改正TOF测距系统误差的情况下,UWB静态定位精度能达到10 cm以内,动态定位精度优于0.2m。

In this paper,we analyze the feature of ultra-wide band(UWB)pseudo range,which is generated by method of time of flight(TOF).By applying Kalman filter and its transformation to the original TOF measures,we detect and remove measures with error as well as lower the noise of TOF measures.We build a model to correct system error of TOF measures by comparing it with known distance.The positioning result shows that as system error gets well corrected,the precision of UWB positioning reaches a level of 10 cm in static mode,and a level of 0.2 m in kinematic mode,while the path of object keeps smooth.