超宽带ToA局部定位系统中卡尔曼滤波算法的综合及实验精度评价

2021 3rd International Youth Conference on Radio Electronics, Electrical and Power Engineering (REEPE) Pub Date : 2021-03-11 DOI:10.1109/REEPE51337.2021.9388007

N. Petukhov, A. Chugunov, Vladimir N. Zamolodchikov, D. Tsaregorodtsev, I. Korogodin

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引用次数: 12

摘要

本文综合研究了卡尔曼滤波算法对超宽带到达时间(ToA)系统定位精度的影响。研究内容包括:UWB ToA局部定位系统的定位算法综合、算法可行性的实验验证、开发的滤波器在现场实验中坐标估计的统计特性评估。现场实验验证了该算法处理超宽带ToA测量值的可行性。所提出的ToA卡尔曼滤波算法在X坐标和Y坐标下得到的用户坐标估计的标准差分别为0.0115 m和0.0161 m。发现合成ToA滤波器估计的距离均方根为0.0198 m，比LSM解的DRMS小3.86倍。

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Synthesis and Experimental Accuracy Assessment of Kalman Filter Algorithm for UWB ToA Local Positioning System

This paper is devoted to synthesis and investigation of Kalman filter algorithm for ultrawideband (UWB) Time of Arrival (ToA) system positioning accuracy. The study consists of synthesis of positioning algorithm for UWB ToA local positioning system, experimental verification of proposed algorithm feasibility, assessment of statistical characteristics of coordiates estimates of developed filter in field experiment. Synthesized algorithm for processing UWB ToA measurements confirmed its feasibility in field experiment. Obtained standard deviation of user’s coordinates estimates for proposed ToA Kalman filter algorithm amounted to 0.0115 m and 0.0161 m for coordinates X and Y, respectively. Found distance root mean square of synthesized ToA filter estimates is 0.0198 m which is 3.86 times less than DRMS for solutions from LSM.

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来源期刊

2021 3rd International Youth Conference on Radio Electronics, Electrical and Power Engineering (REEPE)

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