A mobile target location algorithm based on uwb mobile node

Abstract

The invention provides a mobile target positioning algorithm based on a UWB mobile node, which belongs to the technical field of precision measurement. The algorithm first establishes the UWB positioning model, and performs ranging and preprocessing on the measurement distance between the base station and the node. During the distance measurement process, the CIR signal characteristics are used to alleviate the NLOS error by using the ranging error mitigation fuzzy inference positioning algorithm, and then the KF In the algorithm, the difference between the innovation and the variance of the innovation is used to adjust the value of the innovation, and the distance data is alleviated again after one-step mitigation, and the distance measurement accuracy is improved through two-step mitigation; finally, the positioning is completed through the LS positioning algorithm. Static and dynamic positioning experiment results show that in the case of NLOS, the positioning algorithm proposed by the present invention has higher precision, which effectively improves the problem of low positioning precision of UWB mobile nodes.

Description

【Technical field】 [0001] The present invention relates to the field of precision measurement technology, specifically to a moving target positioning algorithm based on a UWB mobile node. 【Background】 [0002] The traditional GPS satellite outdoor positioning technology is affected by factors such as building obstruction and environmental complexity, and the positioning error is relatively large, and it has gradually failed to meet the indoor and outdoor positioning needs. To this end, Wi-Fi-based positioning, radio frequency identification positioning, ultrasonic positioning, Bluetooth positioning and ultra wideband (UWB) positioning and other positioning schemes have been bred. Compared with other positioning and tracking technologies, UWB-based positioning tracking technology will have its own unique advantages: 1) UWB positioning technology has centimeter-level positioning accuracy that other positioning technologies cannot achieve; 2) UWB positioning technology has extremely ...

AI Technical Summary

Problems solved by technology

However, the effect on ranging error identification and mitigation of ranging accuracy is limited, and in actual positioning and tracking applications, the target object is generally moving, and the position of the corresponding UWB node is also dynamically changing, and the node may leave the original position every moment. Every time the position of the object at the current moment is determined, the node may already be in the next position

Therefore, the mobility of nodes leads to the following problems in traditional static positioning methods: 1) Mobile nodes need frequent positioning to adapt to the mobility of target objects, and the positioning and tracking algorithms need to have good real-time performance; 2) Nodes will move while moving Bring some adverse changes, such as changes in network topology, real-time changes in the NLOS impact in the communication channel between nodes, etc. These changes make positioning and tracking difficult or the accuracy cannot meet the requirements

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