【摘要】：針對(duì)室內(nèi)環(huán)境下UWB TW-TOA測距精度受標(biāo)準(zhǔn)時(shí)間偏差和NLOS誤差影響明顯的問題,采用4階多項(xiàng)式擬合模型對(duì)標(biāo)準(zhǔn)時(shí)間偏差進(jìn)行標(biāo)定,設(shè)計(jì)了一種新的基于偏移卡爾曼濾波的NLOS誤差鑒別與抑制方法。該方法將測距殘差與卡爾曼濾波結(jié)合,鑒別出NLOS誤差,并將殘差值加入到卡爾曼濾波的迭代中,修正卡爾曼濾波的異常值,得到消除NLOS的測量值。利用實(shí)測試驗(yàn)對(duì)以上算法進(jìn)行驗(yàn)證,結(jié)果表明經(jīng)過標(biāo)準(zhǔn)時(shí)間偏差標(biāo)定及NLOS誤差的鑒別與抑制后,在LOS環(huán)境下,UWB TW-TOA測距精度可達(dá)到毫米級(jí);在NLOS環(huán)境下,測距精度可由原來的0.5 m縮小至0.2 m,證明了本文方法的正確性和可行性。
[Abstract]:Aiming at the problem that the precision of UWB TW-TOA ranging in indoor environment is obviously affected by standard time deviation and NLOS error, the 4-order polynomial fitting model is used to calibrate the standard time deviation. A new method of NLOS error identification and suppression based on offset Kalman filter is designed. The method combines ranging residuals with Kalman filtering to identify NLOS errors, and adds the residual value to the iteration of Kalman filtering to correct the outliers of Kalman filtering to get the measurement value of eliminating NLOS. The experimental results show that after calibrating the standard time deviation and discriminating and suppressing the NLOS error, the ranging accuracy of UWB TW-TOA can reach millimeter level in LOS environment, and in NLOS environment, the accuracy can reach millimeter level. The ranging accuracy can be reduced from 0.5 m to 0.2 m, which proves the correctness and feasibility of this method.
【作者單位】： 遼寧工程技術(shù)大學(xué)測繪與地理科學(xué)學(xué)院;
【基金】：大學(xué)生創(chuàng)新創(chuàng)業(yè)訓(xùn)練計(jì)劃項(xiàng)目(201610147000078)
【分類號(hào)】：TN925

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相關(guān)期刊論文 前10條

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本文編號(hào)：2169143