一种基于UWB的CTK-IDS联合定位算法

A CTK-IDS joint positioning algorithm based on UWB

为提高超宽带(Ultra Wide Band,UWB)技术应用于室内运动环境的定位精度和抗干扰能力,提出一种改进的Chan-泰勒-卡尔曼双边双向(Chan-Taylor-Kalman-Improved Double-Sided,CTK-IDS)联合定位算法。该算法通过测距计算修正与预测拟合技术,以降低设备测距误差及提升测距精度,采用改进的双边双向测距(Improved Double-Sided Two-Way Ranging,IDS-TWR)算法计算信号传播时间。将Chan算法估计的位置坐标作为Taylor算法的初值点进行迭代,从而解算出运动员的位置坐标。最后,结合Kalman滤波进行坐标的二次估计,以减弱非视距、多径等环境因素的影响,实现运动员室内运动环境中的实时、精准定位。验证结果表明,在室内环境中使用该算法可以使移动标签位置的平均误差在4~5 cm以内,最大定位误差不超过13 cm。

In order to improve the accuracy and anti-interference ability for ultra-width band positioning in indoor sports,an improved Chan-Taylor-Kalman double-sided two-way ranging(CTK-IDS)algorithm is proposed.Through the ranging calculation correction and prediction fitting technology,the proposed algorithm reduces the equipment ranging error and improves the ranging accuracy.The improved double-sided two-way ranging(IDS-TWR)algorithm is adopted to calculate the transmission time.The position coordinates estimated by the Chan algorithm are used as the initial value of Taylor algorithm iteration,so as to solve the position coordinates of athletes.Finally,the secondary estimation of coordinates is calculated with the Kalman filtering,to eliminate the influence of non-visual distance,multipath and other environmental factors to obtain real-time and accurate positioning for indoor athletes.The validation results indicate that with the proposed algorithm in indoor environments,the average error of the athlete’s coordinate is within 4~5 cm,and the maximum positioning error is less than 13 cm.