基站
计算机科学
全球定位系统
非视线传播
算法
基础(拓扑)
混合定位系统
定位技术
超宽带
卡尔曼滤波器
最小二乘函数近似
定位系统
实时计算
计算机视觉
人工智能
无线
电信
工程类
数学
节点(物理)
数学分析
统计
结构工程
估计员
作者
Chen Li,Shanhong Li,Pingguo Cao,Quanjun Song
出处
期刊:Journal of physics
[IOP Publishing]
日期:2023-05-01
卷期号:2492 (1): 012034-012034
被引量:1
标识
DOI:10.1088/1742-6596/2492/1/012034
摘要
Abstract With the increased use of rescue robots in indoor scenarios, the requirements for indoor location services are becoming more stringent. Traditional GPS positioning cannot provide accurate location information indoors, while ultra-wideband (UWB) has been widely used for indoor positioning due to its high accuracy and penetrating power. When solving 3D positioning coordinates using UWB least squares in line-of-sight situations, the positioning accuracy is easily affected by the layout height of the base station. In this paper, we first improve the positioning algorithm and then find a better way of base station layout in the actual positioning environment to improve the tag positioning accuracy. The algorithm improvement is based on the following ideas: firstly, the initial positioning results of the tag are obtained using UWB least squares and spatial geometric relations, and the 3D coordinates of the tag are solved using Gauss-Newton iterative method, and finally combined with the Kalman filter for optimization. The base stations are laid out in such a way that adjacent base stations are not at the same horizontal height and relative base stations are at the same horizontal height.
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