Position resolving method based on CKF, chan resolving and Savitzky-Golay smooth filtering

A smoothing filtering and solving technology, applied in the field of positioning, can solve problems such as low positioning accuracy and decreased distance accuracy

Active Publication Date: 2020-01-07
青岛联合创智科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the above distance calculation formula is more accurate at short distances. When the distance becomes farther, due to the multipath effect of electromagnetic waves, signal interference, and object occlusion, the accuracy of the calculated distance will decrease, resulting in low positioning accuracy.

Method used

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  • Position resolving method based on CKF, chan resolving and Savitzky-Golay smooth filtering
  • Position resolving method based on CKF, chan resolving and Savitzky-Golay smooth filtering
  • Position resolving method based on CKF, chan resolving and Savitzky-Golay smooth filtering

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Experimental program
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Embodiment 1

[0136] A kind of position calculation method based on CKF, chan solution and Savitzky-Golay smoothing filtering involved in this embodiment, its detailed steps are realized as follows:

[0137]S1, using the TDOA measurement value error model (1),

[0138]

[0139] Among them, r k Indicates the distance between the current tag and the base station, r k-1 Indicates the distance between the tag and the base station at the last moment, T indicates the measurement interval, v is the tag's movement speed, a is the tag's movement acceleration, Δr k The distance difference between the tag and the master base station and the slave base station, Δr k主 , Δr k从 represent the distances from the tag to the main base station and from the base station, respectively, Δt ij is the actual time difference of the signal arriving at the base station, is the ideal arrival time difference, μ is the error of the measurement sensor and the environment, which meets Gaussian white noise;

[0...

Embodiment 2

[0256] In order to verify the effectiveness of the above algorithm, taking the UWB application as an example, an experiment was conducted with one positioning per second. The test was carried out in an 8m×8m room. The test only used chan for position calculation and CKF, chan and Savitzky-Golay respectively. The calculation effect of the smoothing filter is affected by the pace, and the positioning times of the two tests are different;

[0257] image 3 For the set ideal trajectory, Figure 4 It is a comparison chart of the position calculation results using only the chan algorithm and the position calculation results using CKF, chan algorithm and Savitzky-Golay smoothing filter, Figure 5 It is a comparison chart of the positioning error of the two methods. According to the calculation, the mean value of the positioning error using only the chan solution method is 0.1278 meters, and the standard deviation is 0.0927. Figure 4 and Figure 5 It can be seen that after adding...

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Abstract

The invention belongs to the field of positioning, and particularly relates to a position resolving method based on CKF, chan resolving and Savitzky-Golay smooth filtering. The method is realized according to the following modes of firstly using a TDOA measured value error model (1), modelling through a CKF state equation and a measurement equation, and then performing time synchronization on filtered data through CKF flow, namely accomplishing the processing o a TDOA measured value, and then resolving a label position; and finally performing position resolving by using the chan algorithm. Themain technical scheme is ingenious in conception, exquisite in calculation model, simple in position settlement process, accurate in a resolving result, friendly in application environment, and widein market environment.

Description

Technical field: [0001] The invention belongs to the field of positioning, and in particular relates to a position calculation method based on CKF, chan calculation and Savitzky-Golay smoothing filter. Background technique: [0002] The traditional positioning technology is mainly applicable to open outdoor locations, using positioning systems established by geostationary satellites for positioning, such as the Global Positioning System (Global Positioning System, usually referred to as GPS) and the Beidou system. [0003] However, with the development of the city, the scale of the building is getting larger and larger, and people's demand for indoor positioning is increasing. However, the indoor reception of satellite signals is poor, and the satellite positioning system cannot be used. To solve this problem, some solutions for indoor positioning using wireless signals have appeared in the prior art. In these schemes, using the principle that the wireless signal strength g...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01S5/00G06F17/10
CPCG01C21/206G01S5/0027G06F17/10
Inventor 纪刚臧强周亚敏
Owner 青岛联合创智科技有限公司
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