UWB positioning method based on KF algorithm, Chan algorithm and Taylor algorithm

Abstract

The invention discloses a UWB positioning method based on a KF algorithm, a Chan algorithm and a Taylor algorithm. The method includes the following steps: step 1, setting a to-be-detected tag on a to-be-detected carrier, and carrying out fitting processing for distance from to-be-detected tag to each base station in an environment of the four positioning base stations; step 2, using distance values of the step 1 after real-time fitting as measurement values of Kalman filtering to carry out Kalman filtering to obtain distance values after filtering; step 3, using the Chan algorithm on the distance values of the step 2 after Kalman filtering to obtain estimation positions of the to-be-detected tag; and step 4, using the estimation positions, which are of the to-be-detected tag and are calculated by the Chan algorithm in the step 3, as initial values of the Taylor algorithm, and carrying out Taylor algorithm calculation to obtain final estimation positions of the to-be-detected tag. According to the method, linear fitting equations are established for the distance from the to-be-detected tag to each base station, Kalman filtering processing is carried out on results after filtering,non-line-of-sight errors are reduced, ranging results are enabled to be stable and closer to true values, and positioning accuracy is improved.

Description

technical field [0001] The invention relates to a UWB positioning method based on a KF algorithm, a Chan algorithm and a Taylor algorithm, and belongs to the technical field of positioning and navigation. Background technique [0002] Indoor precise positioning and navigation, as one of the main areas of civil navigation technology development in recent years, has received great attention and development. Indoor precise positioning and navigation services are becoming more and more important to people's lives, especially indoors with complex environments, such as exhibition halls, In warehouses, underground garages, subways, fitness centers, large shopping malls, libraries and other places, indoor precise positioning and navigation technology is currently in a period of rapid development, and various indoor precise positioning and navigation technologies are still in the research stage, which cannot meet the needs of indoor precise positioning application requirements. [0...

AI Technical Summary

Problems solved by technology

At present, domestic and international research on UWB positioning technology is in the ascendant, and most of them are only for the positioning technology research in the line-of-sight environment, but the ranging accuracy is easily affected in the line-of-sight and non-line-of-sight environment, and traditional positioning methods are used. The positioning accuracy is difficult to reach the centimeter level, so the high-precision UWB positioning method needs to be studied urgently

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