Three-dimensional positioning method based on ultra wide band and air pressure sensor fusion

Abstract

The invention discloses a three-dimensional positioning method based on fusion of an ultra wide band and an air pressure sensor. The method comprises the following specific steps: performing three-dimensional calculation based on ultra wide band data, obtaining high-precision two-dimensional position information and a height estimation value, and then fusing the height estimation value obtained bycalculation with barometric sensor data to obtain a height value with higher stability. The stability of fused height data is further improved, abnormal values of height estimation in pure ultra-wideband three-dimensional positioning can be suppressed, and the effect is remarkable for the abnormal values of both isolated outliers and continuous outliers. In addition, the requirement for frequentcalibration of two differential air pressure stations in traditional differential height measurement is avoided, and the practicability is further improved.

Description

technical field [0001] The invention belongs to the technical field of wireless positioning, and in particular relates to a three-dimensional positioning method based on fusion of ultra-wideband and air pressure sensors. Background technique [0002] With the rapid development of mobile communication technology, people's demand for positioning and navigation is increasing, especially for complex indoor scenes such as power inspections, urban comprehensive utility corridors, and petrochemical plants, to realize real-time monitoring and tracking of mobile target location information, It has strong practical value. At present, the main indoor wireless positioning technologies include: ultra-wideband (UWB) positioning technology, radio frequency identification technology and wireless sensor network, etc. Compared with other positioning technologies, UWB technology has high positioning accuracy, strong stability, and good anti-multipath effect , low transmission power and small ...

AI Technical Summary

Problems solved by technology

Theoretically, a simple ultra-wideband positioning technology can achieve high-precision three-dimensional positioning, but due to the limitation of indoor elevation and the complex environment, it is easy to cause occlusion in the elevation direction, making it difficult for a simple positioning technology to take into account the accuracy of three dimensions at the same time. position

Compared with ultra-wideband technology, barometric altimetry is a traditional altimetry method, which has been widely used in wide areas. In indoor positioning applications, the atmospheric environment changes little and has certain applicability. However, the traditional The differential measurement using sea level as the reference has low precision. If you want to obtain high-precision height estimation in an indoor small area environment, you need to re-establish the reference station and use this reference station to perform real-time differential height measurement.

There have been many literatures on this method, but this method of using two air pressure sensors for differential also has certain disadvantages. For example, the differential air pressure sensors need to be calibrated effectively, and the calibration value drifts in long-term tests. This in turn affects the final height estimation accuracy, so the height estimation achieved simply by using air pressure difference has poor long-term stability of positioning accuracy. If you want to be practical in engineering, you need to power on and calibrate frequently, which greatly reduces customer acceptance.

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