基于UWB技术的室内精确导航研究与实现

发布时间：2018-12-06 21:43

【摘要】：随着LBS(基于位置的服务)的业务需求越来越大,对复杂的室内环境中移动对象导航与定位问题的研究逐渐成为了物联网领域、地理信息领域、计算机学科的研究热点。实时精确的定位导航系统在医疗领域,安全领域、物流领域、自动控制、智能监控等领域也具有广泛的应用面,因此基于无线网络的导航技术的应用研究具有广阔的发展前景。当前的室外导航定位技术(比如GPS技术等)应用在室内环境中,存在着室内定位精度严重不足以及GPS信号穿透墙体导致信号衰减严重等问题,所以不适用于室内精确导航。一些室内导航技术如WSN(无线传感器网络)导航、RFID(射频识别技术)导航则因为速度慢、精度低、对室内环境的栅格地图建模相对来说比较困难,所以这些室内导航系统和相应的导航算法无法满足室内的高精度性、高实时性的要求。针对现有导航系统存在的问题,本论文主要做了如下工作:(1)根据UWB(Ultra-Wideband)超宽带技术的特性,结合TOA和TDOA定位算法提出了一种改进的优化的定位算法修正了UWB技术导航的定位精度,同时研究与讨论了三个UWB传感器与四个以上的UWB传感器的两种情况中导航精度修正方法与模型。(2)通过重新优化设计BEST-FIRST A*算法与IDA*迭代加深搜索算法、SMA*算法,引入线性拟合技术,改进了这些算法使它们能够生成出最优化的导航路线,使在室内区域导航中生成的导航路线距离更短,更精准,生成速度更快,基本能满足UWB技术环境在实际应用的需要。(3)依托Ubisense7000硬件设备,采用优化后的定位算法和A*改进的算法设计并实现了一种适合UWB技术的高精度快速导航系统,实现了在已知的室内环境中描绘导航区域内的栅格地图以及可视化的精确室内导航。(4)在真实的场景与模拟的场景下,通过对导航环境的测试与精确导航系统模块功能模块测试,来保证导航系统地可靠性与实时性。
[Abstract]:With the increasing demand of LBS (location-based services), the research on navigation and location of moving objects in complex indoor environment has become a hot research topic in the field of Internet of things, geographic information and computer science. Real-time and accurate positioning and navigation system also has a wide range of applications in medical, security, logistics, automatic control, intelligent monitoring and other fields, so the application of navigation technology based on wireless network has a broad development prospects. The current outdoor navigation and positioning technology (such as GPS technology) is used in indoor environment, there are some problems such as serious shortage of indoor positioning accuracy and serious attenuation of signal caused by GPS signal penetrating the wall, so it is not suitable for indoor accurate navigation. Some indoor navigation technologies such as WSN (Wireless Sensor Network) navigation, RFID (radio frequency identification (, RFID () navigation are relatively difficult to model the grid map of indoor environment because of their slow speed and low precision. Therefore, these indoor navigation systems and the corresponding navigation algorithms can not meet the indoor high accuracy, high real-time requirements. Aiming at the problems existing in the existing navigation system, the main work of this paper is as follows: (1) according to the characteristics of UWB (Ultra-Wideband) ultra-wideband technology, Combined with TOA and TDOA localization algorithms, an improved and optimized localization algorithm is proposed to correct the positioning accuracy of UWB navigation. At the same time, the methods and models of navigation accuracy correction for three UWB sensors and more than four UWB sensors are studied and discussed. (2) by redesigning the BEST-FIRST A * algorithm and IDA* iterative search algorithm, SMA* algorithm is proposed. With the introduction of linear fitting technology, these algorithms are improved so that they can generate optimal navigation routes, which make the navigation routes generated in indoor area navigation shorter, more accurate and faster. It can basically meet the needs of the practical application of UWB technology environment. (3) based on the Ubisense7000 hardware equipment, a high precision and fast navigation system suitable for UWB technology is designed and implemented by using the optimized positioning algorithm and the improved algorithm of A *. The grid map of navigation area and the visualization of accurate indoor navigation are realized in the known indoor environment. (4) in the real scene and simulated scene, The reliability and real time of navigation system are ensured by testing the navigation environment and the function module of accurate navigation system.
【学位授予单位】：东华理工大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TN925

【相似文献】