基于单锚点UWB的室内定位技术

Indoor Positioning Technology Based on Single Anchor UWB

传统UWB室内定位技术需要多锚点的配合才能对目标进行精准定位,设备成本高且安装冗杂。将多锚点测距改为单锚点测距,通过减少锚点来降低多锚UWB技术成本,并且使安装简单化。但是要实现系统精准定位,单锚点测距所提供的位置信息无法满足定位要求。为了克服这一问题,可以使用一个九轴惯性传感单元(inertial measurement units,IMU)获取目标运动状态信息,通过扩展卡尔曼滤波(extended Kalman filtering,EKF)将该信息与单锚点UWB所得位置信息进行数据融合,降低了IMU的累积误差又减少了UWB锚点数量,实现了精确定位。通过实验验证该方法下的定位系统具有良好的准确性和鲁棒性,精度可达到20 cm以下。

Conventional UWB indoor positioning technology necessitates cooperation from numerous anchor points for precise target localization,leading to increased equipment expenses and intricate installation.Single-anchor UWB location is used instead of multi-anchor UWB location,leading to reduction of the cost of multi-anchor UWB technology and simpler installation.However,the position information provided by single-anchor ranging is insufficient for the positioning requirements for precise system localization.To overcome this problem,an IMU is used to obtain target motion state information,which is then fused with the position information obtained from single anchor UWB ranging through EKF.This method decreases the cumulative errors of the IMU and the number of UWB anchors,achieving accurate positioning.Experimental verification has demonstrated that the positioning system based on this method achieves high accuracy and robustness,with a precision of less than 20 cm.