A UWB positioning method for suppressing NLOS error

BAO Xiaoyu; WANG Qing; YANG Yuan; CHENG Xianghong

doi:10.13873/J.1000-9787(2019)09-0009-04

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A UWB positioning method for suppressing NLOS error

更新时间：2025-09-11

- A UWB positioning method for suppressing NLOS error
- Vol. 38, Issue 9, Pages: 9-12(2019)
- 作者机构：
  
  东南大学仪器科学与工程学院
- 作者简介：
- 基金信息：
- DOI：10.13873/J.1000-9787(2019)09-0009-04
  CLC： TN925
- Published：2019
- 稿件说明：
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[1]鲍小雨,王庆,阳媛,程向红.一种抑制NLOS误差的UWB定位方法[J].传感器与微系统,2019,38(09):9-12.

BAO Xiaoyu, WANG Qing, YANG Yuan, et al. A UWB positioning method for suppressing NLOS error[J]. 2019, 38(9): 9-12.
[1]鲍小雨,王庆,阳媛,程向红.一种抑制NLOS误差的UWB定位方法[J].传感器与微系统,2019,38(09):9-12. DOI： 10.13873/J.1000-9787(2019)09-0009-04.

BAO Xiaoyu, WANG Qing, YANG Yuan, et al. A UWB positioning method for suppressing NLOS error[J]. 2019, 38(9): 9-12. DOI： 10.13873/J.1000-9787(2019)09-0009-04.

摘要

针对超宽带设备在室内环境下受各种因素的干扰存在标准偏差的问题

对测距数据进行拟合

求解标准偏差

对设备进行标定;针对室内场景存在的非视距误差会降低定位精度的问题

提出了一种改进的扩展卡尔曼滤波算法

设定阈值判别视距数据与非视距数据

剔除非视距误差。实验结果表明:该方法可以有效抑制标准偏差和非视距误差对定位精度的不良影响:视距环境下

静态定位和动态定位精度均可达到厘米级;非视距环境下

静态定位精度达到厘米级

动态定位精度达到亚分米级。

Abstract

Aiming at the problem that ultra-wideband（ UWB） equipment

exists standard deviation in indoor environment

ranging data are fitted and standard deviation are solved. device is calibrated. In order to solve the problem that indoors non-line of sight（ NLOS） error will reduce the positioning precision

an improved extended Kalman filtering（ EKF） algorithm is proposed. A threshold is set to discriminate between line-of-sight（ LOS） data and NLOS data. The experimental results show that the proposed method can effectively suppress the adverse effects of standard deviation and non-line-of-sight error on positioning precision. In the LOS environment

both static positioning precision and dynamic positioning precision can reach centimeter level; in NLOS environment

centimeterlevel precision call be reached for static positioning and sub-decimeter level precision for dynamic positioning.

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references

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