基于UWB的室内定位系统的设计与实现

发布时间：2018-04-28 08:38

本文选题：室内定位系统 + GPS　；参考：《湘潭大学》2017年硕士论文

【摘要】：近年来,由于智慧家庭的横空出世,导致各种智能硬件产品如雨后春笋一样的都迸发出来了,定位系统也成为了网络上的热搜关键词。虽然室外定位有比较成熟GPS(Global Positioning System)系统解决方案,并且该定位系统的定位精度达到了M级,对室外定位的需求基本可以满足。但生活中,人们不仅有对室外定外的需求,随着科技的发展,人们对与室内定位的呼声越来越高。但是由于GPS在室内定位中存在严重的多径干扰以及室内环境的复杂性,导致了GPS应用在室内定位精度大幅度下降,基本很难满足用户的需求。为此,提出了一种基于UWB的无线传感器网络室内定位系统的设计方案,只需要在定位的室内部署传感器节点,分为四个锚节点和一个被定位的标签节点。通过锚节点与标签节点信息交互,得到时间差,通过nRF24L01把时间差传送给上位机,上位机软件利用改进的TDOA算法和卡尔曼滤波算法,对得到的数据进行误差分析,数据融合,通过一系列的算法计算出目标物体相对于锚节点的相对位置,并以圆点的方式在上位机中显示出来,便于用户观察目标物体的相对位置。传统的定位算法难点在于各个节点之间的时钟同步,以及时钟漂移带来的误差累计,这样会导致定位误差越来越大。在本文中,首先改进了TDOA算法,利用其中一个Anchor节点作为整个系统的时钟参考点,其广播一条通信帧到整个系统中,启动所有的Anchor节点,从而达到了Anchor之间的时钟同步,降低了时钟同步的难度,为减少时钟漂移的误差,并且在改进的TDOA算法中嵌入了卡尔曼滤波算法,修正和减少了时钟误差,提高了定位精度。最后的真实环境的测试结果表明,本论文中的定位系统的定位精度可以达到20cm左右,并且抗多径能力强、稳定性高。本文的研究成果可以为在复杂室内环境的情况下,实现无线传感器室内高精度定位提供理论参考,同时本文中的无线传感器室内定位系统的设计与实现,可以对市面上的室内定位的商业化做出有益的探索。
[Abstract]:In recent years, due to the birth of intelligent family, all kinds of intelligent hardware products have burst out, and the location system has become a hot search keyword on the network. Although there is a mature GPS(Global Positioning system solution for outdoor positioning, and the positioning accuracy of the system reaches M level, the requirement of outdoor positioning can be basically satisfied. But in life, people not only have the demand for outdoor positioning, with the development of science and technology, people are more and more vocal about indoor positioning. However, due to the serious multipath interference in indoor positioning and the complexity of indoor environment, the accuracy of GPS application in indoor positioning is greatly reduced, and it is difficult to meet the needs of users. Therefore, a design scheme of indoor positioning system for wireless sensor networks based on UWB is proposed. It only needs to deploy sensor nodes in the location room, which is divided into four anchor nodes and one tagged node. Through the information interaction between anchor node and label node, the time difference is obtained, and the time difference is transmitted to the host computer through nRF24L01. The software of upper computer uses the improved TDOA algorithm and Kalman filter algorithm to analyze the error of the obtained data and fuse the data. Through a series of algorithms, the relative position of the target object relative to the anchor node is calculated and displayed in the host computer in the form of a dot, which is convenient for the user to observe the relative position of the target object. The difficulty of the traditional localization algorithm lies in the clock synchronization between each node and the accumulation of errors caused by the clock drift, which will lead to more and more errors. In this paper, we first improve the TDOA algorithm, use one of the Anchor nodes as the clock reference point of the whole system, broadcast a communication frame to the whole system, start all the Anchor nodes, and achieve the clock synchronization between Anchor. In order to reduce the error of clock drift and to reduce the difficulty of clock synchronization, the Kalman filter algorithm is embedded in the improved TDOA algorithm, which corrects and reduces the clock error and improves the positioning accuracy. Finally, the test results of real environment show that the positioning accuracy of the positioning system in this paper can reach about 20cm, and the anti-multipath ability is strong and the stability is high. The research results in this paper can provide a theoretical reference for the realization of high precision indoor positioning of wireless sensors in complex indoor environment. At the same time, the design and implementation of wireless sensor indoor positioning system in this paper. It can make a beneficial exploration for the commercialization of indoor positioning on the market.
【学位授予单位】：湘潭大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TN925

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