智能安全帽UWB定位技术算法研究

Research on UWB Localization Technology Algorithm of Intelligent Hard Hat

定位技术是智能安全帽的关键技术,针对室内复杂环境中非视距信号(NLOS)误差导致定位精度低的问题,提出一种消除非视距误差的计算方法来提高定位精度。首先以到达时间差(TDOA)算法进行超宽带(UWB)测距;再以基于接收信号参数NLOS识别算法计算NLOS误差;总误差剔除NLOS误差后的误差作为部分状态向量进行卡尔曼滤波,重构消除NLOS误差的测距值;最后用Chan定位算法算出定位目标精确位置。经过实验验证,该方法能够在非视距环境下达到亚米级的定位精度,稳定可靠,适用于复杂环境下的高精度定位,较好地解决了智能安全帽在室内复杂环境下的定位问题。

Location algorithm is one of the key techniques in smart safety helmet research.To solve the problem of low positioning accuracy caused by non-line-of-sight(NLOS)error in complex indoor environment,a calculation method to eliminate non-line-of-sight error was proposed to improve the positioning accuracy.Firstly,the UWB ranging was performed using the time difference of arrival(TDOA)algorithm.The NLOS error was then calculated by the NLOS recognition algorithm based on the received signal parameters.The total error after removing NLOS error was used as a part of the state vector for Kalman filtering to obtain the TDOA value without NLOS error.Finally,the exact location of the location target was calculated using the Chan location algorithm.The experimental results showed that this method could achieve sub-meter positioning accuracy in non-line-of-sight environment,and was stable and reliable.It was suitable for high-precision positioning in complex environment,and better solved the positioning problem of intelligent safety helmet in complex indoor environment.