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Real-time continuous positioning method in nlos tunnel environment based on uwb

A technology of tunnel environment and positioning method, which can be applied to services based on specific environments, services based on location information, positioning, etc., can solve problems such as TOA errors, and achieve the effect of satisfying tunnel personnel and vehicle positioning and positioning accuracy.

Active Publication Date: 2022-06-17
JIANGSU POWER TRANSMISSION & DISTRIBUTION CO LTD +3
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In this case, serious TOA errors will result

Method used

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  • Real-time continuous positioning method in nlos tunnel environment based on uwb
  • Real-time continuous positioning method in nlos tunnel environment based on uwb
  • Real-time continuous positioning method in nlos tunnel environment based on uwb

Examples

Experimental program
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Effect test

Embodiment

[0101] On the experimental bench, there are four fixed anchors, consisting of a rectangular area of ​​5 meters by 4 meters, the label nodes are deployed to this area, the label nodes continuously measure the distance to the anchor nodes, and then the calculated distance is calculated by Lora. sent to the server. In the experiment, 25 label nodes are selected to evaluate the static localization accuracy. figure 2 The fitting curve of the x-coordinate and time based on the least squares method is given. The linear equation is f(t)=7.899t+39.25, and the confidence level is 95%. In a similar way, the fitted curve of the y-coordinate versus time can be obtained. Then, the predicted position can be obtained.

[0102] exist image 3 , the black dots represent the possible positions of the label nodes in the experiment. Using the greedy-based clustering algorithm proposed in the present invention, the estimated positions are obtained as follows: Figure 4 As shown in , the big do...

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PUM

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Abstract

The invention discloses a real-time continuous positioning method in a UWB-based NLOS tunnel environment, including: each label node communicates continuously with all adjacent anchor points, measures the distance from itself to the anchor point, and uses the least square method to predict the label Then use a greedy clustering algorithm to estimate the position of the label node, and finally determine the final position of the label node according to the predicted position and estimated position. The method of the invention makes positioning more accurate and meets the needs of tunnel personnel and vehicle positioning.

Description

technical field [0001] The invention relates to a real-time continuous positioning method based on UWB NLOS tunnel environment, and belongs to the technical field of indoor positioning. Background technique [0002] Positioning plays an important role in our life and is widely used in different application fields such as navigation, weather report, target search. Global Positioning System (GPS) and Beidou Navigation System (BDNS) are typical outdoor application systems that can achieve meter-level positioning accuracy. However, when we need to locate mobile devices in buildings, tunnels and other closed environments, the signal strength of satellites is very weak, and it is impossible to find their location through outdoor positioning technology. [0003] In recent years, Ultra-wideband (UWB) localization is emerging as a promising technology in indoor scenarios. In theory, it can provide centimeter-level accuracy, which is much higher than that of outdoor positioning tech...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S5/06H04W4/02H04W4/33
CPCH04W4/023H04W4/33G01S5/06
Inventor 凌建王磊吉宏邵丽东丁道军徐铼陈蕾徐军谢虎丁俊峰戴挈军戴大海
Owner JIANGSU POWER TRANSMISSION & DISTRIBUTION CO LTD
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