Three-dimensional UWB indoor positioning method based on improved CHAN algorithm

An indoor positioning and algorithm technology, applied in the field of positioning and navigation, can solve the problems of non-line-of-sight error, decreased positioning accuracy, and inaccurate positioning results.

Inactive Publication Date: 2019-12-31
ZHEJIANG WELLSUN INTELLIGENT TECH CO LTD
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Problems solved by technology

[0004] The purpose of the present invention is to provide a three-dimensional UWB indoor positioning method based on the improved CHAN algorithm, aiming to solve the problem that the introduction of non-line-of-sight errors will reduce the positioning accuracy and inaccurate positioning results

Method used

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  • Three-dimensional UWB indoor positioning method based on improved CHAN algorithm
  • Three-dimensional UWB indoor positioning method based on improved CHAN algorithm
  • Three-dimensional UWB indoor positioning method based on improved CHAN algorithm

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Embodiment Construction

[0045] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0046] see figure 1 , the present invention provides a schematic flowchart of a three-dimensional UWB indoor positioning method based on the improved CHAN algorithm. Specifically, such as figure 1As shown, the three-dimensional UWB indoor positioning method based on the improved CHAN algorithm may include the following steps:

[0047] S101. Receive a UWB positioning signal sent by a tag to be tested carried by an object to be measured, and simultaneously acquire an arrival time parameter and a received signal strength parameter...

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Abstract

The invention discloses a three-dimensional UWB indoor positioning method based on an improved CHAN algorithm. The three-dimensional UWB indoor positioning method based on the improved CHAN algorithmcomprises the following steps: receiving a UWB positioning signal sent by a to-be-measured label carried by a to-be-measured object, and obtaining an arrival time parameter and a received signal intensity parameter of each positioning base station for receiving the UWB positioning signal; comparing the received signal strength parameters of each positioning base station, arranging the received signal strength parameters from large to small, and obtaining a second number of positioning base stations of which the received signal strength parameters are arranged in front; respectively obtaining arrival time parameters of a second number of positioning base stations, and determining the distance from each second number of positioning base stations to the to-be-measured label; calculating the distance difference rif between the to-be-measured label and each of the second number of positioning base stations and the to-be-measured label and the reference base station; and obtaining a distancedifference, and obtaining an estimated position of the to-be-measured object based on a CHAN algorithm. The influence of non-line-of-sight errors is effectively reduced, the positioning precision isimproved, and the accuracy of a positioning result is improved.

Description

technical field [0001] The invention relates to the technical field of positioning and navigation, in particular to a three-dimensional UWB indoor positioning method based on an improved CHAN algorithm. Background technique [0002] Ultra-wideband (UWB) positioning refers to the use of previously arranged anchor nodes with known locations to communicate with newly added blind nodes to obtain distance-related parameters such as TOA (time of arrival), TDOA (time difference of arrival), AOA ( Arrival angle), RSSI (received signal strength), etc., the distance is obtained from the parameters, and then the corresponding positioning algorithm is adopted to obtain the position of the blind node. [0003] The CHAN algorithm is a positioning algorithm based on the TDOA model. Using the traditional CHAN algorithm for ultra-wideband (UWB) positioning in the line-of-sight environment, because the measurement error is small and obeys the Gaussian distribution, the positioning accuracy is...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04W4/02H04W4/33H04W64/00G01S5/00G01S5/04
CPCG01S5/0027G01S5/04H04W4/023H04W4/33H04W64/006
Inventor 陈利双邬永强李兆刚章为昆刘常涛孙德春
Owner ZHEJIANG WELLSUN INTELLIGENT TECH CO LTD
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