基于超宽带鲁棒无气味卡尔曼滤波的室内高精度定位系统

2016 IEEE International Conference on Communication Systems (ICCS) Pub Date : 2016-12-01 DOI:10.1109/ICCS.2016.7833646

Haohao Yin, Weiwei Xia, Yueyue Zhang, Lianfeng Shen

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引用次数: 13

摘要

本文实现了一种室内定位系统，该系统通过超宽带(UWB)测量距离，并利用三边定位算法确定一个盲节点的位置。此外，为了克服复杂室内环境带来的测量误差，提出了一种无气味卡尔曼滤波(Unscented Kalman Filter, UKF)算法来提高定位结果的精度。最后对所开发的定位系统进行了测试，并对所提出的算法进行了分析。实验结果表明，该室内定位系统可实现小于10cm的定位精度，为高精度定位应用提供了一条有前景的途径。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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UWB-based indoor high precision localization system with robust unscented Kalman filter

In this paper, an indoor localization system is implemented, in which the distances are measured via by the Ultra-Wideband (UWB) and are utilized to determine positions of one blind node through trilateration localization algorithm. Additionally, to overcome the measurement errors caused by complex indoor environment, an Unscented Kalman Filter (UKF) algorithm is proposed to improve the accuracy of the localization results. Finally, the developed localization system is tested and the proposed algorithm is analyzed. It shows that the indoor localization system can achieve the positioning accuracy less than 10cm, providing a promising approach for high precision localization applications.

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2016 IEEE International Conference on Communication Systems (ICCS)

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