An UWB indoor positioning algorithm based on Kalman filtering

YAN Bao-fang; MAO Qing-zhou

doi:10.13873/J.1000-9787(2017)10-0137-04

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An UWB indoor positioning algorithm based on Kalman filtering

更新时间：2025-09-11

- An UWB indoor positioning algorithm based on Kalman filtering
- Vol. 36, Issue 10, Pages: 137-140+143(2017)
- 作者机构：
  
  武汉大学测绘遥感信息工程国家重点实验室
- 作者简介：
- 基金信息：
- DOI：10.13873/J.1000-9787(2017)10-0137-04
  CLC： TN713;TN925
- Published：2017
- 稿件说明：
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[1]闫保芳,毛庆洲.一种基于卡尔曼滤波的超宽带室内定位算法[J].传感器与微系统,2017,36(10):137-140+143.

YAN Bao-fang, MAO Qing-zhou. An UWB indoor positioning algorithm based on Kalman filtering[J]. 2017, 36(10): 137-140+143.
[1]闫保芳,毛庆洲.一种基于卡尔曼滤波的超宽带室内定位算法[J].传感器与微系统,2017,36(10):137-140+143. DOI： 10.13873/J.1000-9787(2017)10-0137-04.

YAN Bao-fang, MAO Qing-zhou. An UWB indoor positioning algorithm based on Kalman filtering[J]. 2017, 36(10): 137-140+143. DOI： 10.13873/J.1000-9787(2017)10-0137-04.

摘要

为了减小室内环境中障碍物对超宽带（UWB）传感器测距结果的影响

提出了一种基于卡尔曼滤波（KF）的超宽带室内定位算法。利用超宽带接收信号的信噪比区分视距和非视距环境

给出了超宽带传感器测距性能最小二乘标定模型

减小测距系统误差;判断相邻测距差分是否在阈值范围内

否则用卡尔曼滤波先验估计替代后验估计处理测距结果

由此减弱多径效应和非视距误差对测距的影响;用扩展卡尔曼滤波器（EKF）实现室内定位。实验结果表明:算法在复杂室内环境中可达到亚米级的动态实时定位精度。

Abstract

In order to eliminate the effects of indoor obstacles lead to ultra-wideband（ UWB） ranging result

present an UWB indoor localization algorithm based on Kalman filtering. By using signal noise ratio of UWB to distinguish line of sight from non-line of sight environment

give least squares calibration models for ultra-wideband sensor ranging performance to reduce the distance measuring system error. To weaken multipath effects and effect of non-line of sight error on ranging

use Kalman filtering priori estimation to replace posterior estimation to process ranging result. Extended Kalman filter is used to achieve indoor positioning. Experimental results prove that

the algorithm has sub-meter high dynamic realtime positioning precision in complex indoor environments.

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references

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基于Zig Bee无线传感器网络的一种室内定位新方法 [J]. 刘小康,张翔,方爽,郭杭. 传感器与微系统 . 2013(11)

基于RFID的室内定位技术评述 [J]. 王小辉,汪云甲,张伟. 传感器与微系统 . 2009(02)

一种NLOS环境下的TOA/AOA定位算法 [J]. 毛永毅,李明远,张宝军. 电子与信息学报 . 2009(01)

Chan定位算法在三维空间定位中的应用 [J]. 章坚武,唐兵,秦峰. 计算机仿真 . 2009(01)

一种基于TOA的UWB直接-Taylor复合定位算法 [J]. 蒋文美,王玫. 桂林电子工业学院学报 . 2006(01)

基于超宽带的室内定位算法研究 [D]. 欧阳昱. 南京邮电大学 2013

超宽带无线定位方法研究 [D]. 孟宏伟. 吉林大学 2007

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