辽宁石油化工大学学报2025，Vol.45Issue(2)：90-96,7.DOI:10.12422/j.issn.1672-6952.2025.02.012
基于TOF的UWB室内定位技术与融合算法研究
Research on TOF-Based UWB Indoor Positioning Technology and Fusion Algorithms
摘要
Abstract
Aiming at the problems of low positioning accuracy and poor stability in multi-effect and non-line-of-sight conditions,a new indoor positioning system Chan-Taylor-Unscented Kalman Filter(C-T-UKF)combined positioning algorithm is designed based on the time of flight positioning algorithm,combined with the Chan-Taylor(C-T)cooperative positioning algorithm,and fused with the Unscented Kalman Filter(UKF)algorithm.The system mainly consists of positioning base stations,positioning tags,wireless communication systems and upper computers,etc.The Chan algorithm is adopted to calculate the distance measured by the time of flight method,and the calculated coordinates are used as the initial value of the Taylor algorithm for iterative calculation.The iterative results are smoothed by the Unscented Kalman algorithm.The results show that the positioning system based on this algorithm has the characteristics of high accuracy,strong stability and low cost.The average positioning errors in line-of-sight and non-line-of-sight conditions are less than 0.17 m and 0.20 m respectively,and it can be applied to high-precision positioning scenarios.关键词
室内定位/飞行时间/无迹卡尔曼滤波/非视距Key words
Indoor positioning/Time of flight/Unscented kalman filter/Non-line of sight分类
电子信息工程引用本文复制引用
王东宁,黄越洋,石元博..基于TOF的UWB室内定位技术与融合算法研究[J].辽宁石油化工大学学报,2025,45(2):90-96,7.基金项目
辽宁省教育厅科研项目(LJKMZ20220737) （LJKMZ20220737）
辽宁石油化工大学科研启动基金项目(2020XJJL009). （2020XJJL009）
