UWB TW-TOA测距误差分析与削弱
发布时间：2018-08-06 22:09
【摘要】：针对室内环境下UWB TW-TOA测距精度受标准时间偏差和NLOS误差影响明显的问题,采用4阶多项式拟合模型对标准时间偏差进行标定,设计了一种新的基于偏移卡尔曼滤波的NLOS误差鉴别与抑制方法。该方法将测距残差与卡尔曼滤波结合,鉴别出NLOS误差,并将残差值加入到卡尔曼滤波的迭代中,修正卡尔曼滤波的异常值,得到消除NLOS的测量值。利用实测试验对以上算法进行验证,结果表明经过标准时间偏差标定及NLOS误差的鉴别与抑制后,在LOS环境下,UWB TW-TOA测距精度可达到毫米级;在NLOS环境下,测距精度可由原来的0.5 m缩小至0.2 m,证明了本文方法的正确性和可行性。
[Abstract]:Aiming at the problem that the precision of UWB TW-TOA ranging in indoor environment is obviously affected by standard time deviation and NLOS error, the 4-order polynomial fitting model is used to calibrate the standard time deviation. A new method of NLOS error identification and suppression based on offset Kalman filter is designed. The method combines ranging residuals with Kalman filtering to identify NLOS errors, and adds the residual value to the iteration of Kalman filtering to correct the outliers of Kalman filtering to get the measurement value of eliminating NLOS. The experimental results show that after calibrating the standard time deviation and discriminating and suppressing the NLOS error, the ranging accuracy of UWB TW-TOA can reach millimeter level in LOS environment, and in NLOS environment, the accuracy can reach millimeter level. The ranging accuracy can be reduced from 0.5 m to 0.2 m, which proves the correctness and feasibility of this method.
【作者单位】： 辽宁工程技术大学测绘与地理科学学院;
【基金】：大学生创新创业训练计划项目(201610147000078)
【分类号】：TN925
[Abstract]:Aiming at the problem that the precision of UWB TW-TOA ranging in indoor environment is obviously affected by standard time deviation and NLOS error, the 4-order polynomial fitting model is used to calibrate the standard time deviation. A new method of NLOS error identification and suppression based on offset Kalman filter is designed. The method combines ranging residuals with Kalman filtering to identify NLOS errors, and adds the residual value to the iteration of Kalman filtering to correct the outliers of Kalman filtering to get the measurement value of eliminating NLOS. The experimental results show that after calibrating the standard time deviation and discriminating and suppressing the NLOS error, the ranging accuracy of UWB TW-TOA can reach millimeter level in LOS environment, and in NLOS environment, the accuracy can reach millimeter level. The ranging accuracy can be reduced from 0.5 m to 0.2 m, which proves the correctness and feasibility of this method.
【作者单位】： 辽宁工程技术大学测绘与地理科学学院;
【基金】：大学生创新创业训练计划项目(201610147000078)
【分类号】：TN925
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相关期刊论文 前10条
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