Indoor three-dimensional positioning method for ultra wide band

Abstract

The invention discloses an indoor three-dimensional positioning method for an ultra wide band, and belongs to the field of communication. The method comprises the following steps: establishing a spatial three-dimensional rectangular coordinate system; judging whether a non-line-of-sight error exists in the positioning process or not by using a non-line-of-sight error recognition method based on TDOA measurement distance distribution; carrying out preliminary position estimation on the three-dimensional position of the label through TDOA measurement data by utilizing an ultra-wideband system; performing residual value weighting processing on the three-dimensional position of the label estimated by the Chan algorithm; and taking the processed three-dimensional position of the label as an initial value of a Gaussian-Newton iterative algorithm, performing iterative operation, and obtaining the three-dimensional space position of the label by using a residual discrimination method. According to the invention, a specific positioning scheme is provided for a TDOA positioning mode. Compared with a Chan algorithm, the method has the advantages that the positioning precision is better than that of the Chan algorithm. The method has good indoor non-line-of-sight error interference resistance.

Description

technical field [0001] The invention belongs to the field of communication, and in particular relates to an indoor three-dimensional positioning method for ultra-wideband. Background technique [0002] With the development of the economy, the expansion of commercial activities towards indoors, and the high requirements for automation and intelligence in industrial fields such as smart factories and smart warehousing, indoor positioning has gradually attracted extensive attention and research from scholars at home and abroad. [0003] The indoor positioning technology used in ultra-wideband technology can be summarized into four categories: based on signal time of arrival (TOA), based on signal time difference of arrival (TDOA), based on signal attenuation strength (RSSI), based on signal angle of arrival (AOA) ). Due to the non-line-of-sight propagation effect, multipath effect and multiple access interference of radio waves in the indoor environment, TOA / TDOA technology is...

AI Technical Summary

Problems solved by technology

The Chan algorithm has higher accuracy in the line-of-sight environment and does not require an initial value. It is suitable for the TDOA positioning method. The zero-mean Gaussian noise used in the error model, in the non-line-of-sight environment, the accuracy will be reduced due to error interference.

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