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Indoor three-dimensional positioning method for ultra wide band

A three-dimensional positioning, ultra-wideband technology, applied in the field of communications, can solve problems such as reduced accuracy and zero mean Gaussian noise

Active Publication Date: 2019-11-22
HARBIN ENG UNIV
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Problems solved by technology

The Chan algorithm has higher accuracy in the line-of-sight environment and does not require an initial value. It is suitable for the TDOA positioning method. The zero-mean Gaussian noise used in the error model, in the non-line-of-sight environment, the accuracy will be reduced due to error interference.

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  • Indoor three-dimensional positioning method for ultra wide band
  • Indoor three-dimensional positioning method for ultra wide band
  • Indoor three-dimensional positioning method for ultra wide band

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Embodiment Construction

[0110] The invention proposes an indoor three-dimensional positioning method for ultra-wideband. First, deploy more than 4 ultra-broadband base stations for indoor scenarios, and obtain measurement data through TDOA. It is proposed to use the non-line-of-sight error identification method to determine whether the positioning process is a non-line-of-sight environment; use the Chan algorithm to perform twice weighted least squares estimation on the original TDOA data obtained by the ultra-wideband system, and obtain the estimated value of the three-dimensional position of the tag; use the residual value The weighting method smoothes the non-line-of-sight error generated by the application of the ultra-wideband system to obtain a further accurate three-dimensional position estimate of the label; the estimated value is used as the initial value of the Gauss-Newton iteration, and iteratively calculated for multiple times, and finally the residual is used to distinguish The method o...

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Abstract

The invention discloses an indoor three-dimensional positioning method for an ultra wide band, and belongs to the field of communication. The method comprises the following steps: establishing a spatial three-dimensional rectangular coordinate system; judging whether a non-line-of-sight error exists in the positioning process or not by using a non-line-of-sight error recognition method based on TDOA measurement distance distribution; carrying out preliminary position estimation on the three-dimensional position of the label through TDOA measurement data by utilizing an ultra-wideband system; performing residual value weighting processing on the three-dimensional position of the label estimated by the Chan algorithm; and taking the processed three-dimensional position of the label as an initial value of a Gaussian-Newton iterative algorithm, performing iterative operation, and obtaining the three-dimensional space position of the label by using a residual discrimination method. According to the invention, a specific positioning scheme is provided for a TDOA positioning mode. Compared with a Chan algorithm, the method has the advantages that the positioning precision is better than that of the Chan algorithm. The method has good indoor non-line-of-sight error interference resistance.

Description

technical field [0001] The invention belongs to the field of communication, and in particular relates to an indoor three-dimensional positioning method for ultra-wideband. Background technique [0002] With the development of the economy, the expansion of commercial activities towards indoors, and the high requirements for automation and intelligence in industrial fields such as smart factories and smart warehousing, indoor positioning has gradually attracted extensive attention and research from scholars at home and abroad. [0003] The indoor positioning technology used in ultra-wideband technology can be summarized into four categories: based on signal time of arrival (TOA), based on signal time difference of arrival (TDOA), based on signal attenuation strength (RSSI), based on signal angle of arrival (AOA) ). Due to the non-line-of-sight propagation effect, multipath effect and multiple access interference of radio waves in the indoor environment, TOA / TDOA technology is...

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Application Information

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IPC IPC(8): H04W4/33H04W64/00
CPCH04W64/00H04W4/33
Inventor 刘鹰刘琦王春宏王欢王锐陈文苗
Owner HARBIN ENG UNIV
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