UWB multi-point delay correction method based on least squares adjustment
A technology of least squares and correction method, which is applied in the direction of electrical components, synchronization devices, wireless communication, etc., to achieve the effect of improving accuracy, ensuring stability and usability, and weakening the influence of observation errors
Active Publication Date: 2018-10-02
TONGJI UNIV
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[0006] The purpose of the present invention is to provide a UWB multi-point delay correction method, which can deal with the problem of UWB base station time synchronization in applications such as UWB indoor navigation and positioning
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[0038] The specific implementation manner of the present invention will be described in more detail below with reference to schematic diagrams. Advantages and features of the present invention will be apparent from the following description and claims. It should be noted that all the drawings are in a very simplified form and use imprecise scales, and are only used to facilitate and clearly assist the purpose of illustrating the embodiments of the present invention.
[0039] refer to figure 1 , in a preferred embodiment of the present invention, a multi-point extension correction method based on least squares adjustment includes:
[0040] Step S1: select a number of uniformly distributed discrete control points within the coverage of the base station of the UWB system, and obtain the coordinates of the control points and the coordinates of each base station of the UWB system;
[0041] Specifically, attention should be paid to the selection of control points:
[0042] Selec...
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The invention relates to a UWB (ultra-wide band) multi-point delay correction method based on least squares adjustment. A plurality of uniformly distributed control points are selected on the ground;static data are collected at the control points; according to the obtained static observation data, the control points, and all base station coordinates of a UWB system, relative signal propagation time delay amounts among all base stations of the UWB are calculated based on a least squares adjustment concept by combing a GNSS data processing method, thereby realizing synchronization between UWB base stations. According to the invention, the method is designed for solving an out-of-synchronization problem of clocks of all base stations in UWB positioning and is suitable for the UWB positioningsystem using the synchronous control device for time synchronization control. When the delay amounts of the signal propagation time among base stations are calculated, joint calculation is carried out by selecting observation values of multiple control points. Compared with the simple control point calculation way, the provided method enables the influence on the delay correction by various observation errors to be eliminated; the calculation result becomes accurate; and the reliability is improved.
Description
technical field [0001] The invention relates to the field of data processing of ultra-wideband (UWB: ultra-wide band) indoor navigation and positioning technology, in particular to a time delay correction method for implementing clock synchronization between UWB base stations. Background technique [0002] In the past few decades, high-precision outdoor navigation and positioning technologies such as the global satellite navigation system (GNSS) have become increasingly mature, and the accuracy has increased from the initial meter level to the centimeter level. With the development of precision positioning technology, GNSS technology has been widely used in both military and civilian fields. At the same time, the high-precision navigation and positioning technology in the indoor environment has also become a research hotspot of major research institutions and enterprises. Compared with outdoor positioning, the structure of indoor environment is more complex, people and obst...
Claims
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IPC IPC(8): H04W56/00
CPCH04W56/001H04W56/004
Inventor 李博峰钟颖刘天霞
Owner TONGJI UNIV