Adaptive indoor dynamic target UWB positioning method and adaptive indoor dynamic target UWB positioning system

A technology of dynamic target and positioning method, applied in the direction of positioning, radio wave measurement system, measurement device, etc., can solve the problem of high layout and maintenance costs

Active Publication Date: 2017-05-31
CHONGQING UNIV OF POSTS & TELECOMM
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] Second, coverage. Existing technologies basically rely on positioning databases, and the generation of databases mostly relies on manual on-site surveys, which brings high layout and maintenance costs.

Method used

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  • Adaptive indoor dynamic target UWB positioning method and adaptive indoor dynamic target UWB positioning system
  • Adaptive indoor dynamic target UWB positioning method and adaptive indoor dynamic target UWB positioning system
  • Adaptive indoor dynamic target UWB positioning method and adaptive indoor dynamic target UWB positioning system

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Embodiment 1

[0081] The specific implementation process of the UWB positioning method for adaptive indoor dynamic targets provided by this embodiment is as follows:

[0082] Step 1: Use the UWB positioning system to measure a set of TDOA values ​​with errors;

[0083] Step 2: Process the measured TDOA value with wavelet analysis adaptive denoising method, and output the reconstructed TDOA value.

[0084] Because the absolute value of the useful signal decomposition coefficient is large, it is stored in the approximate coefficients of each layer, and the absolute value of the noise signal decomposition coefficient is small, which is stored in the detail coefficients of each layer, and the decomposed detail coefficients of each layer have different effects on the useful signal. Adaptive denoising processes the detail coefficients to obtain the output value under the optimal influence factor (ie, the weight in the network); the details are as follows:

[0085] The BP neural network is used t...

Embodiment 2

[0138] Such as figure 1 As shown, the UWB positioning system provided in this embodiment includes a positioning tag carried by a person to be positioned, and the positioning tag sends UWB signals at a set frequency interval. There are 5 base stations involved in positioning, among which there is a special AP base station (also called WiFi Router), which is responsible for uploading the information data of other base stations to the location display management terminal.

[0139] Such as figure 2 as shown, figure 2 It is a structural diagram of the overall framework of the upper computer software. The upper computer software includes modules such as data receiving, data processing, algorithm output, and effect display. All modules are implemented based on the Java language. The following describes the function realization process of each module in detail:

[0140] (1) Data access module: its main function is to analyze and preprocess the original data uploaded by the anchor ...

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Abstract

The invention discloses an adaptive indoor dynamic target UWB positioning method. The method comprises the following steps: firstly measuring a TDOA value by using a UWB positioning system; then, processing the measured TDOA value by using a wavelet analysis adaptive denoising method, outputting a reconstructed TDOA value, converting the reconstructed TDOA value into a distance difference, establishing a nonlinear equation set, and obtaining an optimal solution of the equation set; then using the optimal solution as an initial value, performing tracking and positioning on a dynamic target by using an extended Kalman filtering algorithm, and figuring out a final estimated value; and finally outputting the final estimated value. By virtue of the adaptive indoor dynamic target UWB positioning method provided by the invention, a distance measuring error caused by the influence of multipath propagation (Multipath) and non-line-of-sight interference (NLOS) in a UWB signal propagation process can be weakened and even eliminated, the positioning precision is improved, and the accurate positioning of the dynamic target in a non-line-of-sight indoor environment can be realized. The ultra wide band positioning system verifies the validity of the positioning method and realizes the indoor positioning of the dynamic target.

Description

technical field [0001] The invention relates to the technical field of wireless positioning, in particular to a UWB positioning method and system for adaptive indoor dynamic targets. Background technique [0002] With the rapid development of new mobile devices, mobile communications and wireless sensor networks (WSN) and the proliferation of location-based awareness applications, positioning technology has gradually entered a new stage. In the vast outdoors, the Global Positioning System (GPS) can achieve high accuracy through satellite positioning. However, the traditional global positioning system (GPS) cannot meet the needs of people's daily life due to the blocked satellite communication in the indoor environment. With the improvement of people's lives, people are more urgently demanding the application of short-distance indoor positioning systems. [0003] At present, for the positioning calculation of indoor targets, there are many emerging technologies and related a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04W64/00G01S5/00
CPCG01S5/0009H04W64/00
Inventor 屈洪春宋冀生邱泽良吕强伍永波王平
Owner CHONGQING UNIV OF POSTS & TELECOMM
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