井下超宽带人员定位的改进卡尔曼滤波算法

Improved Kalman filter algorithm to UWB personnel location in mines

针对井下复杂环境对超宽带信号产生的干扰问题,提出卡尔曼滤波与超宽带TWR结合的改进算法。通过滤波处理当前测距数据和上一时刻的预测值及误差,计算系统状态的最优值,分离测距数据与误差,解析接收的定位数据规律,结合仿真实验与现场测试,验证该方法的可行性与可靠性。结果表明,定位轨迹更接近真实路线,且测距误差降低至10 cm范围内,定位误差降低至30 cm范围。

This paper proposes an improved algorithm combining Kalman filter and UWB TWR in an effort to address the interference of UWB signal in complex environment.The study involves calculating the optimal value of the system state,by filtering the current ranging data and the predicted value and error of the last moment,separating the ranging data and error,and analyzing the law of the received positioning data;and verifying the feasibility and reliability of the method through simulation experiments and field tests.The results show that the location trajectory is closer to the real route,reducing the range error to 10 cm,and the location error to 30 cm.