基于UWB的智能召车导航定位系统研究

Research on Navigation and Positioning System of Intelligent Car Calling Based on UWB

为提高智能召车系统导航定位的准确性,保障停车场取车效率,提出了一种基于超宽带定位技术(UWB)的智能召车导航定位系统。建立了基于UWB的智能召车定位模型和运动学模型,采用双向测距方法进行车辆与车主之间的测距,针对标准三边测量法定位不确定的问题,提出了改进的三边测量法,对定位点进行加权优化,提高了定位的可信度。分析了导航定位系统的误差,提出采用无迹卡尔曼滤波进行定位数据的优化,在保证精度的同时提高计算效率。最后对导航定位系统进行智能召车静态和动态导航定位试验,结果表明:该系统定位精确,运行稳定,能够满足智能召车导航定位系统的需求。

In order to improve the accuracy of the navigation and positioning of the intelligent car calling system and ensure the efficiency of car picking up in the parking lot,an intelligent car calling navigation and positioning system based on ultra wideband positioning technology(UWB)is proposed.The location model and kinematics model of intelligent vehicle calling based on UWB are established.The two-way distance measurement method is used to measure the distance between the vehicle and the owner.Aiming at the uncertainty of the standard Trilateration,an improved Trilateration is proposed to optimize the location point by weighting,which improves the reliability of location.The error of the navigation and positioning system is analyzed,and the unscented Kalman filter is proposed to optimize the positioning data,which can ensure the accuracy and improve the calculation efficiency.Finally,the static and dynamic navigation positioning experiments of the intelligent vehicle calling are carried out.The results show that the positioning system is accurate and stable,and can meet the requirements of the intelligent vehicle calling navigation positioning system.