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UWB positioning method based on taylor series expansion of mixed least square method

A technology of least squares method and Taylor series, applied in the field of navigation and positioning, it can solve problems such as inability to meet high-precision requirements and inaccurate positioning algorithms

Active Publication Date: 2019-01-29
SOUTHEAST UNIV
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  • Application Information

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Problems solved by technology

In UWB positioning technology, the UWB signal has a huge bandwidth and can obtain good time resolution. It is widely used in short-distance measurement, but its positioning algorithm is not accurate enough to meet the current high-precision requirements.

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  • UWB positioning method based on taylor series expansion of mixed least square method
  • UWB positioning method based on taylor series expansion of mixed least square method
  • UWB positioning method based on taylor series expansion of mixed least square method

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Embodiment Construction

[0070] The technical solutions provided by the present invention will be described in detail below in conjunction with specific examples. It should be understood that the following specific embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention.

[0071] The UWB positioning method based on the Taylor series expansion of the hybrid least squares method proposed by the present invention, its process is as follows figure 1 shown, including the following steps:

[0072] Step (1), establish a network structure based on UWB base stations, and place tags on the car;

[0073] Wherein, the network structure includes N UWB base stations (greater than or equal to 4) and UWB tags. And the operation of the car should be included in and around the three-dimensional geometry formed by the UWB base station. Establish a space rectangular coordinate system, and record the coordinates of the base station as N i =(x i ,y ...

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Abstract

The invention provides a UWB positioning method based on taylor series expansion of a mixed least square method. The UWB positioning method based on taylor series expansion of the mixed least square method comprise the steps that firstly, the mixed least square method is used for directly processing the time when a pulse signal sent by a UWB tag is received by a base station to obtain a positioning initial value; then a taylor series expansion algorithm is used for processing the obtained initial positioning value again to enable the initial positioning value to be more accurate; and finally,an extended Kalman filter is used for connecting the obtained discrete positioning points into a track through a motion model to achieve the optimization effect on positioning accuracy. The UWB positioning method has high positioning precision and good anti-interference effect, and effectively improves positioning efficiency.

Description

technical field [0001] The invention belongs to the technical field of navigation and positioning, relates to a UWB positioning method, in particular to a UWB positioning method based on Taylor series expansion of mixed least squares method. Background technique [0002] In a modern warehouse factory, due to its huge production scale, a large number of mobile robots are used to complete various tasks and become the key to production, transportation and other links. Therefore, very high requirements are placed on the accuracy of indoor positioning. [0003] Indoor positioning technologies mainly include: laser positioning, WiFi, ZigBee, RFID, Bluetooth, inertial navigation technology, UWB positioning technology and so on. Each of these indoor positioning technologies has its advantages and disadvantages. In UWB positioning technology, the UWB signal has a huge bandwidth and can obtain good time resolution. It is widely used in short-distance measurement, but its positioning ...

Claims

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Application Information

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IPC IPC(8): G01S5/06H04W4/02H04W64/00
CPCH04W4/02H04W64/00G01S5/0294G01S5/06
Inventor 徐晓苏赵北辰喻增威
Owner SOUTHEAST UNIV
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