基于UWB的天然气站场室内三维定位系统研究

Research on indoor 3D positioning system for natural gas stations based on UWB

为解决天然气站场室内定位中因非视距(NLOS)现象导致人员和设备定位精度低的问题,设计了一种基于超宽带(UWB)与Three.js的天然气站场室内人员与设备三维定位系统。通过B/S三层架构,以Django框架和VUE框架为基础,利用Python、HTML5、CSS3和Three.js,实现定位信息在网页客户端的三维可视化。通过对UWB技术的研究,为保证定位精度,基于到达时间差(TDOA)测量值,采用卡尔曼滤波算法对其进行NLOS滤波,并结合Chan算法融合多基站数据,最终得到目标点的计算位置。通过搭建实验环境,对三维定位系统进行定位标签静态和动态定位实验。实验结果表明,对于NLOS现象严重的复杂室内环境,该系统定位精度高、运行平稳,能为天然气站场室内定位提供一种切实可行的技术。

In order to solve the problem of low positioning precision of personnel and equipment due to non-line-of-sight(NLOS)phenomenon in natural gas station indoor positioning,a three-dimensional positioning system for natural gas station indoor personnel and equipment based on ultra-wideband(UWB)and Three.js is designed.Through the B/S three-tier architecture,based on the Django framework and the VUE framework,use Python,HTML5,CSS3 and Three.js to realize the three-dimensional visualization of positioning information on the web client.Through the research of UWB technology,in order to ensure the positioning precision,based on the time difference of arrival(TDOA)measurement value,the Kalman algorithm is used to perform NLOS filtering on it,and the Chan algorithm is used to fuse multi-base station data,finally the calculated position of the target point is obtained.By building an experimental environment,the static and dynamic positioning experiments of positioning tags are carried out on the three-dimensional positioning system.The experimental results show that for the complex indoor environment with serious NLOS phenomenon,the system has high positioning precision and stable operation,and can provide a feasible technology for indoor positioning of natural gas stations.