一种UWB定位系统自主完好性监测方法

An autonomous integrity monitoring method of UWB positioning system

针对超宽带(UWB)异常数据中的粗差和非视距(NLOS)误差等严重影响UWB定位系统精度和可靠性的问题,设计了一种UWB定位系统自主完好性监测方法。该方法采用基于数理统计的卡方全局检验和标准正态分布检验的故障定位理论,通过各基站观测值残差构建检验统计量,通过误警率和概率分布函数进行检验门限设置。将检验统计量和设置的检验门限进行比较,对观测值的故障情况进行检验、定位、监测,从而剔除UWB观测值中的异常数据。实验结果表明,该方法能够有效剔除测距异常值,提高UWB定位系统的定位解算精度和可靠性。

Aiming at the issue of the accuracy and reliability of Ultra Wide Band(UWB)positioning system are severely affected by the gross errors and Non Line of Sight(NLOS)errors covered in UWB outliers,an autonomous integrity monitoring method of UWB positioning system was proposed.The proposed method adopted chi-square global test and standard normal test which were based on mathematical statistics theory to conduct fault positioning.Meanwhile,the test statistic was established by using the residual errors of observed values of each base,and the detection threshold was obtained from the false alarm rate and the probability density function.Comparing the test statistics with the test threshold,abnormal observation were inspected,located and monitored for eliminating the impact of UWB outliers.Experimental results showed that the proposed method could effectively eliminate the abnormal values of ranging,and improve the accuracy and reliability of the UWB positioning system.