The Research of Indoor Three-Dimensional Positioning Algorithm Based on Ultra-Wideband Technology

摘要

In the positioning of the target in the three-dimensional indoor scene, the non-line of sight (NLOS) error caused by the occlusion of the obstacle will seriously reduce the positioning accuracy of Chan algorithm. The Taylor series positioning algorithm can suppress the NLOS error, but the algorithm is dependent on the selection of the initial value, and the initial value selection is not suitable, which can lead to the non-convergence of the algorithm. Aiming at the above problems, a fast and accurate Chan-Taylor series joint three-dimensional localization algorithm is proposed. First, the time of arrival (TOA) data obtained by the ultra-wideband (UWB) technology measurement is analyzed by the residual discrimination method, and whether the NLOS error exists in the measured data is identified. Then, aiming at the existence of NLOS error, the positioning result obtained by the Chan algorithm is used as the initial positioning value of the Taylor series positioning algorithm, and the positioning position is further iteratively calculated by the Taylor series expansion method. In the case of the line of sight distance (LOS), a single Chan location algorithm is still used for calculation. The experimental results show that the Chan-Taylor series joint three-dimensional localization algorithm improves the positioning speed and effectively suppresses the adverse effect of NLOS error on the positioning accuracy, and can reach the positioning accuracy of less than 0.2m in 73% case.