基于KF/PF测距滤波的UWB精确定位试验研究

UWB precise positioning test based on KF/PF ranging filter

针对UWB定位过程中,因NLOS误差和测距噪声干扰,存在定位精度和可靠性较低的问题,在UWB定位解算的基础上,利用KF和PF对UWB测距值进行滤波,以削弱NLOS误差和测距噪声的影响。实验结果表明,基于KF和PF测距滤波的方法可以较好的抑制NLOS误差和测距噪声的影响,KF滤波后测距误差小于3cm, PF滤波后测距误差小于1cm,相较于UWB直接测距解算,静态定位条件下,经KF和PF测距滤波处理后,KF测距滤波定位误差降低了39.3%,PF测距滤波定位误差降低了75.4%;动态定位条件下,KF测距滤波定位误差降低了39.21%,PF测距滤波定位误差降低了50.48%。

Aiming at the low accuracy and reliability due to the interference of NLOS error and ranging noise in the UWB positioning, based on the UWB positioning solution, KF and PF are used to filter the UWB ranging value, to weaken the influence of NLOS error and ranging noise. Experimental results show that the method based on KF and PF ranging filtering can better suppress the influence of NLOS error and ranging noise. The ranging error after KF filtering is less than 3 cm, and the ranging error after PF filtering is within 1 cm. Compared with UWB direct ranging solution, under static positioning conditions, after KF and PF ranging filtering, KF ranging filter positioning error is reduced by 39.3%,PF ranging filter positioning error is reduced by 75.4%;under dynamic positioning conditions, KF ranging filter positioning error is reduced by 39.21%,and the error of PF distance measurement filter positioning is reduced by 50.48%.