Indoor positioning method based on UWB channel quality evaluation

Abstract

The invention belongs to the field of indoor positioning, and particularly provides an indoor positioning method based on UWB channel quality evaluation, which is used for improving the environmental adaptability and positioning precision of a positioning system. According to the method, the channel quality evaluation value is calculated by using the CIR data, so that the ranging value error caused by the environmental influence can be more reliably evaluated by effectively using the wireless channel characteristics; moreover, the anchor nodes are selected according to the channel quality estimation value, the anchor nodes with small LOS conditions and ranging errors can be automatically selected from redundant anchor nodes to form a resolving group for positioning resolving, the UWB indoor positioning precision is effectively improved, manual setting of the resolving group is not needed, human factors affecting the positioning precision of the indoor positioning system are reduced, and the positioning precision of the indoor positioning system is improved. The subjectivity of solution group selection is avoided, and the environmental adaptability of the positioning system is enhanced; meanwhile, the number of the anchor nodes in the resolving group is also automatically selected, and compared with resolving of a fixed number of anchor nodes, the indoor positioning precision can be further improved.

Description

technical field [0001] The invention belongs to the field of indoor positioning, and specifically provides an indoor positioning method based on UWB channel quality evaluation. Background technique [0002] Indoor positioning systems are mainly divided into three types, namely: based on visual information, based on wireless signals and other methods; and wireless-based positioning systems can be divided into four categories: infrared positioning systems, radio frequency systems, global positioning systems and ultrasonic systems; , The technologies commonly used in radio frequency systems include WLAN technology, radio frequency identification (RFID) technology, Bluetooth technology, Zigbee technology, wireless sensor network (WSNs) technology, ultra-wideband (Ultra-Wideband, UWB) technology, etc. [0003] The general steps of wireless-based positioning are ranging and positioning calculation. First, the ranging algorithm is used to obtain the distance between the unknown nod...

AI Technical Summary

Problems solved by technology

At present, when building a positioning system, the industry generally manually sets the combination of anchor nodes in a fixed area, that is, the solution group. After the actual operation of the positioning system, the anchor nodes are selected from the solution group according to the characteristics of the distance measurement value itself to perform positioning calculation. , such as selecting the anchor node with a smaller standard deviation of the ranging value, selecting the closer anchor node according to the ranging value, or selecting the anchor node that forms the best geometric relationship with the unknown node, but due to the strong subjectivity of the manually set solution group , the environmental adaptability is poor, and its initial ranging error is relatively large. In addition, the reliability of the ranging value under strong multipath and NLOS conditions is poor, and the anchor nodes selected based on the characteristics of the ranging value itself also have a large ranging error.

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