基于UWB的定位方法研究
發(fā)布時(shí)間：2018-07-15 13:32
【摘要】：近年來,位置服務(wù)產(chǎn)業(yè)發(fā)展迅猛,并在物聯(lián)網(wǎng)、智慧城市建設(shè)、救災(zāi)減災(zāi)等諸多領(lǐng)域有著廣闊的市場空間。當(dāng)前,全球定位系統(tǒng)(Global Positioning System, GPS)已解決了室外定位問題,而對于GPS無法覆蓋的室內(nèi)環(huán)境,實(shí)現(xiàn)高精度定位依然面臨著極大挑戰(zhàn)。超寬帶(Ultra-Wideband, UWB)技術(shù)具有穿透能力強(qiáng)、測距精度高、抗多徑能力強(qiáng)等優(yōu)點(diǎn),是實(shí)現(xiàn)高精度定位的關(guān)鍵技術(shù)。本文研究了基于超寬帶的定位方法,討論了超寬帶定位技術(shù)的研究現(xiàn)狀及仍需解決的問題,針對室內(nèi)多徑信道提出了兩種改進(jìn)的時(shí)延估計(jì)(Time of Arrival,TOA)算法,并給出了仿真分析,從理論上證明了算法的有效性。另外,本論文針對無線傳感網(wǎng)中參考節(jié)點(diǎn)覆蓋率不足的場景,提出了兩種高效的協(xié)作定位方法,所提方法改善定位性能的同時(shí)實(shí)現(xiàn)了網(wǎng)絡(luò)中能量、信息的有效管理。其主要貢獻(xiàn)如下： 首先,本論文針對適于UWB測距的TOA估計(jì)算法,分析了現(xiàn)有TOA估計(jì)算法的不足以及制約TOA估計(jì)精度的關(guān)鍵因素,探討了接收信號的特征,提出了基于校驗(yàn)窗的TOA估計(jì)算法和基于誤差特征的TOA估計(jì)算法。不同于傳統(tǒng)TOA估計(jì)算法,各個(gè)能量樣本獨(dú)立判決,基于校驗(yàn)窗的TOA估計(jì)算法充分利用了信號樣本在時(shí)間維度上的相關(guān)性,通過多個(gè)能量樣本聯(lián)合檢測提高了估計(jì)精度,因此該算法可以用于改善其它TOA估計(jì)算法,是一種通用的TOA改進(jìn)技術(shù)�；谡`差特征的TOA估計(jì)算法則從另外一個(gè)角度考慮,分析了閾值和檢測誤差之間的關(guān)系,建立了誤差類型函數(shù),通過誤差類型函數(shù)自適應(yīng)調(diào)整閾值,與傳統(tǒng)TOA估計(jì)算法不同的是,該算法不需要先驗(yàn)信道狀態(tài)信息(Channel State Information, CSI),采用了基于判決反饋的自適應(yīng)閾值,有良好的抗干擾性能。 此外,本論文針對網(wǎng)絡(luò)定位的實(shí)施問題做了進(jìn)一步討論,重點(diǎn)研究了協(xié)作定位技術(shù)。眾所周知,協(xié)作定位很好的解決了參考節(jié)點(diǎn)覆蓋率不足的問題,但當(dāng)前協(xié)作定位由于復(fù)雜度過高、節(jié)點(diǎn)能耗大等問題受到應(yīng)用限制。本論文將協(xié)作定位分解為定位估計(jì)和信息控制兩個(gè)子模塊,提出了基于引導(dǎo)滲流控制信息傳播的協(xié)作定位方案,在引導(dǎo)滲流的控制作用下,只有滿足激活條件的節(jié)點(diǎn)可以實(shí)施位置估計(jì)和位置信息廣播,因此,所提方案實(shí)現(xiàn)了能量管理和信息管理。同時(shí),由于所提方案減少了誤差信息的傳播,提高了定位性能。 最后,本論文將引導(dǎo)滲流的思路擴(kuò)展至貝葉斯網(wǎng)絡(luò)定位,提出了基于分層的非參數(shù)置信度傳播(Nonparametric Belief Propagation, NBP)定位算法。論文重新構(gòu)架了基于引導(dǎo)滲流定位問題的圖模型,形成了分層的圖模型,設(shè)計(jì)了基于分層圖模型的消息傳播準(zhǔn)則,給出了相應(yīng)的用于實(shí)現(xiàn)的基于分層的NBP定位算法。仿真結(jié)果驗(yàn)證了所提算法的有效性。傳統(tǒng)的協(xié)作定位算法中,由于各個(gè)節(jié)點(diǎn)都廣播位置信息,且消息不受控制的傳播,導(dǎo)致各節(jié)點(diǎn)位置估計(jì)收斂速度很慢甚至無法收斂,所提算法通過控制節(jié)點(diǎn)狀態(tài)以及消息傳播,形成了有序的流動(dòng)狀態(tài),使得消息總是從置信度高的節(jié)點(diǎn)流向置信度低的節(jié)點(diǎn),因此,有效實(shí)現(xiàn)了能量管理,抑制了誤差傳播現(xiàn)象。
[Abstract]:In recent years, the position service industry has developed rapidly, and has broad market space in many fields, such as the Internet of things, intelligent city construction, disaster relief, disaster relief and so on. At present, the Global Positioning System (GPS) has solved the problem of outdoor location, and still faces the extremely high precision positioning for the indoor environment which can not be covered by GPS. Great challenge. Ultra-Wideband (UWB) technology has the advantages of strong penetration ability, high precision and strong anti multipath ability. It is the key technology to realize high precision positioning. This paper studies the localization method based on ultra wideband, discusses the research status of UWB positioning technology and the problems still need to be solved, and proposes the indoor multipath channel. Two improved Time of Arrival (TOA) algorithm and simulation analysis are given, and the effectiveness of the algorithm is proved theoretically. In addition, two efficient cooperative positioning methods are proposed for the scenario of insufficient coverage of reference nodes in wireless sensor networks. The proposed method improves the location performance and realizes the network at the same time. The main contributions are as follows:
First, this paper, aiming at the TOA estimation algorithm suitable for UWB ranging, analyzes the shortcomings of the existing TOA estimation algorithms and the key factors that restrict the accuracy of the TOA estimation. The characteristics of the received signals are discussed, and the TOA estimation algorithm based on the checkwindow and the TOA estimation method based on the error characteristics are proposed. Different from the traditional TOA estimation algorithms, each energy sample is different. In this independent decision, the TOA estimation algorithm based on the checkwindow makes full use of the correlation of the signal samples in the time dimension and improves the estimation accuracy through joint detection of multiple energy samples. Therefore, the algorithm can be used to improve the other TOA estimation algorithms and is a general TOA improvement technique. The TOA estimation algorithm based on the error features is from the other. On the other hand, the relationship between threshold and detection error is analyzed, and an error type function is established. The error type function adaptively adjusts the threshold value. Unlike the traditional TOA estimation algorithm, the algorithm does not need a priori channel state information (Channel State Information, CSI), and the adaptive threshold based on decision feedback is adopted. It has good anti-jamming performance.
In addition, this paper further discusses the implementation of network positioning, focusing on Collaborative positioning technology. It is well known that collaborative positioning is a good solution to the problem of insufficient coverage of reference nodes. However, the current collaborative positioning is restricted by the application because of high complexity and large energy consumption. It is solved as two sub modules of location estimation and information control. A collaborative positioning scheme based on guided percolation control information transmission is proposed. Under the control of guided percolation, only the nodes that satisfy the activation condition can implement position estimation and position information broadcasting. Therefore, the proposed scheme realizes energy management and information management. The proposed scheme reduces the propagation of error information and improves the positioning performance.
Finally, this paper extends the thought of percolation to Bayesian network positioning, and proposes a hierarchical non parametric Nonparametric Belief Propagation (NBP) location algorithm. The paper reconstructs a graph model based on the guidance percolation location problem, forms a hierarchical graph model, and designs a hierarchical graph model. The simulation results verify the effectiveness of the proposed algorithm. In the traditional cooperative location algorithm, because the location information of each node is broadcast and the message is not transmitted by the control, the convergence rate of the location estimation of each node is slow or even convergent, which is proposed in the traditional cooperative positioning algorithm. By controlling the state of the node and the message propagation, the algorithm forms an orderly flow state, which makes the message always flow from the high confidence node to the low confidence node. Therefore, the energy management is effectively realized and the error propagation is suppressed.
【學(xué)位授予單位】：北京郵電大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TN925
本文編號：2124241
[Abstract]:In recent years, the position service industry has developed rapidly, and has broad market space in many fields, such as the Internet of things, intelligent city construction, disaster relief, disaster relief and so on. At present, the Global Positioning System (GPS) has solved the problem of outdoor location, and still faces the extremely high precision positioning for the indoor environment which can not be covered by GPS. Great challenge. Ultra-Wideband (UWB) technology has the advantages of strong penetration ability, high precision and strong anti multipath ability. It is the key technology to realize high precision positioning. This paper studies the localization method based on ultra wideband, discusses the research status of UWB positioning technology and the problems still need to be solved, and proposes the indoor multipath channel. Two improved Time of Arrival (TOA) algorithm and simulation analysis are given, and the effectiveness of the algorithm is proved theoretically. In addition, two efficient cooperative positioning methods are proposed for the scenario of insufficient coverage of reference nodes in wireless sensor networks. The proposed method improves the location performance and realizes the network at the same time. The main contributions are as follows:
First, this paper, aiming at the TOA estimation algorithm suitable for UWB ranging, analyzes the shortcomings of the existing TOA estimation algorithms and the key factors that restrict the accuracy of the TOA estimation. The characteristics of the received signals are discussed, and the TOA estimation algorithm based on the checkwindow and the TOA estimation method based on the error characteristics are proposed. Different from the traditional TOA estimation algorithms, each energy sample is different. In this independent decision, the TOA estimation algorithm based on the checkwindow makes full use of the correlation of the signal samples in the time dimension and improves the estimation accuracy through joint detection of multiple energy samples. Therefore, the algorithm can be used to improve the other TOA estimation algorithms and is a general TOA improvement technique. The TOA estimation algorithm based on the error features is from the other. On the other hand, the relationship between threshold and detection error is analyzed, and an error type function is established. The error type function adaptively adjusts the threshold value. Unlike the traditional TOA estimation algorithm, the algorithm does not need a priori channel state information (Channel State Information, CSI), and the adaptive threshold based on decision feedback is adopted. It has good anti-jamming performance.
In addition, this paper further discusses the implementation of network positioning, focusing on Collaborative positioning technology. It is well known that collaborative positioning is a good solution to the problem of insufficient coverage of reference nodes. However, the current collaborative positioning is restricted by the application because of high complexity and large energy consumption. It is solved as two sub modules of location estimation and information control. A collaborative positioning scheme based on guided percolation control information transmission is proposed. Under the control of guided percolation, only the nodes that satisfy the activation condition can implement position estimation and position information broadcasting. Therefore, the proposed scheme realizes energy management and information management. The proposed scheme reduces the propagation of error information and improves the positioning performance.
Finally, this paper extends the thought of percolation to Bayesian network positioning, and proposes a hierarchical non parametric Nonparametric Belief Propagation (NBP) location algorithm. The paper reconstructs a graph model based on the guidance percolation location problem, forms a hierarchical graph model, and designs a hierarchical graph model. The simulation results verify the effectiveness of the proposed algorithm. In the traditional cooperative location algorithm, because the location information of each node is broadcast and the message is not transmitted by the control, the convergence rate of the location estimation of each node is slow or even convergent, which is proposed in the traditional cooperative positioning algorithm. By controlling the state of the node and the message propagation, the algorithm forms an orderly flow state, which makes the message always flow from the high confidence node to the low confidence node. Therefore, the energy management is effectively realized and the error propagation is suppressed.
【學(xué)位授予單位】：北京郵電大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TN925
【共引文獻(xiàn)】
相關(guān)博士學(xué)位論文 前1條
1 曹曉倩;面向病態(tài)場景圖像對的立體匹配算法研究[D];中國科學(xué)院研究生院（西安光學(xué)精密機(jī)械研究所）;2014年
相關(guān)碩士學(xué)位論文 前2條
1 陳明;基于混合部件模型的姿態(tài)估計(jì)方法研究[D];南京航空航天大學(xué);2014年
2 李彬;無線網(wǎng)絡(luò)中的分布式定位算法研究[D];北京理工大學(xué);2015年
，本文編號：2124241
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