基于Taylor-Chan算法的改进UWB室内三维定位方法

Improved UWB indoor 3D positioning method based on Taylor-Chan algorithm

[目的]针对室内三维空间环境复杂导致传统超宽带(ultra wide band,UWB)定位算法精度低、稳定性差的问题对UWB室内三维定位方法进行研究.[方法]在Chan和Taylor算法基础上,设计了一种基于距离误差筛选机制的Taylor-Chan定位算法.首先使用简化Taylor算法求解得到标签初定位结果,再结合初定位结果和测距信息根据所设计筛选函数剔除误差较大的基站数据,最后基于筛选得到的数据,使用Chan算法得到最终标签定位结果.[结果]在室内视距和非视距两种场景下进行仿真,Taylor-Chan算法相比于Chan和Taylor定位精度都有一定的提高,且测距误差越大的情况下,Taylor-Chan算法的定位效果越明显.[结论]仿真结果表明,对比现有方法,本文所提出的Taylor-Chan算法在室内三维空间的视距和非视距环境下都能有效改善定位精度.

[Objective]Ultra Wide Band(UWB)can transmit without being retarded by obstacles in indoor Line of Sight(LOS)environments,but the positioning effect may not be ideal due to hardware device delays,signal attenuation,and other reasons.Meanwhile,the indoor Non Line of Sight(NLOS)environment is more complex and variable,and the inevitable presence of obstructions leads to a decrease in positioning algorithm accuracy and stability.Herein we attempt to improve the positioning accuracy of UWB in indoor 3D space LOS and NLOS environments.[Methods]Indoor 3D spatial positioning models and the traditional Taylor algorithm and Chan algorithm are studied and analyzed.The Taylor algorithm requires initial coordinates within a certain precision,and the Chan algorithm s positioning accuracy will significantly decrease with the increase of indoor obstacles in NLOS environments.Due to the concern mentioned above,an improved Taylor-Chan positioning algorithm is proposed.First,the initial positioning result of the label is obtained using the simplified Taylor algorithm.Then,based on the initial positioning result,a filtering function is designed to reject base stations and ranging data with large error.Finally,the final positioning result is derived from the filtered data using the Chan algorithm.[Results]Simulations are conducted under scenarios of both indoor LOS and NLOS.Compared to Chan and Taylor algorithm,the proposed algorithm can improve positioning accuracy by approximately 15%and 50%under indoor LOS scenarios.Meanwhile,the proposed algorithm can improve positioning accuracy by about 58%and 66%under NLOS scenarios,overcoming the large ranging errors.Besides,the Taylor-Chan algorithm can effectively eliminate the impact of ranging errors and ensure the positioning accuracy.By contrast,the positioning deviations of Chan and Taylor increase as the ranging errors increase.[Conclusions]Our simulation results demonstrate that the proposed algorithm can effectively improve(1)positioning accuracy under both LOS and NLOS scenarios in indoor 3D space and(2)eliminating the influence of ranging errors.