三维环境下的智能水力发电厂移动目标UWB定位方法

UWB Localization Method for Moving Target of Intelligent Hydropower Plant in 3D Environment

在分析智能水力发电厂移动目标三维UWB定位原理的基础上,UWB定位测距通过双边双向法获取移动目标的测距数据,采用K-means++算法抑制测距数据中的非视距误差,通过高斯均值滤波处理标准测量误差,利用最小二乘法对误差抑制后的测距数据作解算处理,确定移动目标的首次三维定位初值;将三维定位初值作为泰勒级数展开法的输入,确定三维坐标估计值,实现移动目标三维定位。实验结果表明:该方法可有效降低测距数据误差,可确定各定位点的位置坐标,可将障碍环境下的定位误差控制在5~14 cm范围之内。

On the basis of analyzing the three-dimensional UWB positioning principle of moving targets in intelligent hydropower plants,the UWB positioning and ranging obtains the ranging data of moving targets through bilateral two-way method,in which,the K-means++algorithm is used to suppress the non line of sight error in the ranging data,the standard measurement error is processed through Gaussian mean filtering,and the least square method is used to solve the ranging data after error suppression to determine the initial value of the first three-dimensional positioning of moving targets.The initial value of the first three-dimensional positioning is used as the input of Taylor series expansion method to determine the three-dimensional coordinate estimation and realize the three-dimensional positioning of moving targets.The experimental results show that the method can effectively reduce the ranging data error,determine the location coordinates of each location point,and control the location error in the obstacle environment within the range of 5-14 cm.