Chan序贯平差组合算法的超宽带定位降噪

doi:10.13474/j.cnki.11-2246.2023.0016

测绘通报 ›› 2023, Vol. 0 ›› Issue (1): 95-100,140.doi: 10.13474/j.cnki.11-2246.2023.0016

Chan序贯平差组合算法的超宽带定位降噪

董佳琪, 连增增, 徐精诚, 魏峰远

河南理工大学测绘与国土信息工程学院, 河南焦作 454000

收稿日期:2022-04-22 发布日期:2023-02-08
通讯作者: 连增增。E-mail:zengzenglian@163.com
作者简介:董佳琪(1997-),男,硕士生,主要研究方向为室内定位与导航。E-mail:1191809324@qq.com
基金资助:
河南省自然科学基金(202300410180);河南省高校基本科研业务费专项资金(NSFRF170807);河南理工大学2017年度博士基金(B2017-10);河南理工大学青年骨干教师资助计划(2022XQG-08)

Noise reduction of Chan sequential adjustment combination algorithm in ultra wide band positioning

DONG Jiaqi, LIAN Zengzeng, XU Jingcheng, WEI Fengyuan

School of Surveying and Land Information Engineering, Henan Polytechnic University, Jiaozuo 454000, China

Received:2022-04-22 Published:2023-02-08

摘要/Abstract

摘要： 在室内环境中接收机与标签之间的距离会受到随机误差的影响,针对超宽带系统的定位特性,结合Chan算法和序贯平差算法的优势,本文提出了Chan序贯平差(Chan-SA)组合算法,以削弱测距随机误差的影响。首先,通过Chan算法两次加权最小二乘获得标签的三维坐标;然后,将此坐标作为初始值代入序贯平差算法中,利用序贯平差算法对后续数据进行迭代得出最优解。仿真数据和实地测量数据的解算结果表明:与Chan算法、粒子滤波算法和序贯平差算法比较,静态场景中Chan-SA算法定位精度分别提高50.14%、35.29%和41.91%,同时在动态场景内也证明了本文算法的适用性。因此,Chan-SA可以提高超宽带系统的定位精度和稳健性。

关键词: 室内定位, 超宽带系统, TOA测距, Chan算法, 序贯平差算法

Abstract: In the indoor environment, the distance between the receiver and the tag will be affected by random errors. Aiming at the positioning characteristics of the ultra wide band(UWB) system, combined with the advantages of the Chan algorithm and the sequential adjustmentalgorithm, a combined Chan sequential adjustment(Chan-SA) algorithm is proposed to reduce the influence of random errors in ranging. Firstly, the 3D coordinates of the label are obtained by the weighted least squares twice of the Chan algorithm, and then the coordinates are substituted into the sequential adjustment algorithm as the initial value, and the sequential adjustment algorithm is used to iterate the subsequent data to obtain the optimal solution. The calculation results of simulation data and field measurement data show that compared with the Chan algorithm, particle filter algorithm and sequential adjustment algorithm, in the static scene, the positioning accuracy of the Chan-SA algorithm is improved by 50.14%, 35.29% and 41.91%, respectively. The applicability of the proposed algorithm is also demonstrated in dynamic scenarios. Therefore, Chan-SA can improve the localization accuracy and robustness of UWB system.

Key words: indoor positioning, ultra wide band system, TOA ranging, Chan algorithm, sequential adjustment algorithm

中图分类号:

P228

董佳琪, 连增增, 徐精诚, 魏峰远. Chan序贯平差组合算法的超宽带定位降噪[J]. 测绘通报, 2023, 0(1): 95-100,140.

DONG Jiaqi, LIAN Zengzeng, XU Jingcheng, WEI Fengyuan. Noise reduction of Chan sequential adjustment combination algorithm in ultra wide band positioning[J]. Bulletin of Surveying and Mapping, 2023, 0(1): 95-100,140.

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Chan序贯平差组合算法的超宽带定位降噪

Noise reduction of Chan sequential adjustment combination algorithm in ultra wide band positioning

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