Indoor non-line-of-sight rapid positioning method based on UWB

A positioning method, non-line-of-sight technology, applied in the field of communication

Active Publication Date: 2021-04-09
XIDIAN UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0011] The present invention overcomes the problem that indoor non-line-of-sight positioning still needs to be improved in the prior art, and provides a UWB-based indoor non-line-of-sight rapid positioning method for fast and low-cost positioning of indoor nodes under non-line-of-sight conditions

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  • Indoor non-line-of-sight rapid positioning method based on UWB
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  • Indoor non-line-of-sight rapid positioning method based on UWB

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Embodiment Construction

[0059] The UWB-based indoor non-line-of-sight rapid positioning method of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments: As shown in Figure (1), the technical principle in this embodiment is to use the RSSI vector to determine the non-line-of-sight error offset.

[0060] The non-line-of-sight error judgment and offset includes three aspects: first, design the error adaptation function, judgment threshold and error angle; second, fix the first node of the two pairs of auxiliary nodes, move the tail nodes of the two pairs of auxiliary nodes and update the RSSI vector; The error adaptation function and the RSSI vector are matched and judged. If the match is judged to be successful, the position of the unknown node is calculated from the positions of the two pairs of auxiliary nodes. In the process of matching the error adaptation function and the RSSI vector, it can be divided into three stages:

[00...

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Abstract

The invention discloses an indoor non-line-of-sight rapid positioning method based on UWB. The problem that indoor non-line-of-sight positioning still needs to be improved is solved. The method comprises the following steps: 1, constructing RSSI vectors R1 and R2 of an auxiliary node, setting a fitness function F for judging positioning matching, a judgment threshold [epsilon] and an error angle E[beta], and setting an initial value of an accumulated rotation angle [alpha] to be 0; 2, determining the rotation of the auxiliary node according to whether the fitness function F is smaller than a discrimination threshold [epsilon] or not, and recording a rotation angle [theta]; 3, updating the RSSI vector R1 and the accumulated rotation angle [alpha] according to the rotation angle [theta]N of the node N of the first pair of auxiliary nodes; and 4, setting the intersection point coordinate R of the two pairs of auxiliary nodes as the prediction position of the unknown node A, and calculating the fuzzy point of the tail node through the error angle E[beta]. According to the technology, the position of the unknown node can be quickly and efficiently determined by using the position update of the auxiliary node.

Description

technical field [0001] The invention relates to the field of communication technology, in particular to a UWB-based indoor non-line-of-sight rapid positioning method. Background technique [0002] Existing positioning technologies mainly include ultra-wideband positioning technology, Wi-Fi fingerprint positioning technology, Bluetooth positioning technology, positioning technology based on inertial sensors, etc., among which: [0003] Ultra-wideband positioning technology uses a very narrow pulse signal, abandoning the carrier signal used in traditional communication. This technology can achieve centimeter-level measurement accuracy under the condition of line-of-sight between indoor nodes, and its structure is simple and its transmission speed is fast. It has been paid more and more attention in recent years. However, this technology requires high hardware performance. In the case of non-line-of-sight, the positioning accuracy is very unstable due to signal occlusion, and ...

Claims

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Application Information

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IPC IPC(8): H04W4/02H04W4/021H04W4/33
CPCH04W4/021H04W4/023H04W4/33
Inventor 李铭东付少忠朱琳
Owner XIDIAN UNIV
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