Three-dimensional UWB indoor positioning method based on improved CHAN algorithm

An indoor positioning and algorithm technology, applied in the field of positioning and navigation, can solve the problems of non-line-of-sight error, decreased positioning accuracy, and inaccurate positioning results.
CN110636436AInactive Publication Date: 2019-12-31ZHEJIANG WELLSUN INTELLIGENT TECH CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
ZHEJIANG WELLSUN INTELLIGENT TECH CO LTD
Publication Date
2019-12-31
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention discloses a three-dimensional UWB indoor positioning method based on an improved CHAN algorithm. The three-dimensional UWB indoor positioning method based on the improved CHAN algorithmcomprises the following steps: receiving a UWB positioning signal sent by a to-be-measured label carried by a to-be-measured object, and obtaining an arrival time parameter and a received signal intensity parameter of each positioning base station for receiving the UWB positioning signal; comparing the received signal strength parameters of each positioning base station, arranging the received signal strength parameters from large to small, and obtaining a second number of positioning base stations of which the received signal strength parameters are arranged in front; respectively obtaining arrival time parameters of a second number of positioning base stations, and determining the distance from each second number of positioning base stations to the to-be-measured label; calculating the distance difference rif between the to-be-measured label and each of the second number of positioning base stations and the to-be-measured label and the reference base station; and obtaining a distancedifference, and obtaining an estimated position of the to-be-measured object based on a CHAN algorithm. The influence of non-line-of-sight errors is effectively reduced, the positioning precision isimproved, and the accuracy of a positioning result is improved.
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Description

technical field

[0001] The invention relates to the technical field of positioning and navigation, in particular to a three-dimensional UWB indoor positioning method based on an improved CHAN algorithm. Background technique

[0002] Ultra-wideband (UWB) positioning refers to the use of previously arranged anchor nodes with known locations to communicate with newly added blind nodes to obtain distance-related parameters such as TOA (time of arrival), TDOA (time difference of arrival), AOA ( Arrival angle), RSSI (received signal strength), etc., the distance is obtained from the parameters, and then the corresponding positioning algorithm is adopted to obtain the position of the blind node.

[0003] The CHAN algorithm is a positioning algorithm based on the TDOA model. Using the traditional CHAN algorithm for ultra-wideband (UWB) positioning in the line-of-sight environment, because the measurement error is small and obeys the Gaussian distribution, the positioning accuracy is...

Claims

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