基于ckf的超宽带室内定位系统快速误差补偿滤波器设计

2018 IEEE 14th International Conference on Automation Science and Engineering (CASE) Pub Date : 2018-08-01 DOI:10.1109/COASE.2018.8560479

S. Cho

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引用次数: 1

摘要

近年来，脉冲无线电-超宽带被广泛用于建筑物自动化中室内空间机器人和物体的高精度位置估计。为了准确定位，必须在定位系统安装后进行校准，并对多径信号进行实时补偿。本文提出了一种实时标定和误差补偿方法。设计了一种基于cubature Kalman滤波器的信道共同误差和信道特定误差顺序估计的滤波器，并通过实验验证了该滤波器快速准确的估计性能。

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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CKF-based Fast Error Compensation Filter Design for IR-UWB Indoor Positioning System for Building Automation

Recently, impulse radio-ultra wideband is widely used for highly accurate location estimation of robots and objects in indoor space for building automation. For their accurate positioning, calibration must be performed after the positioning system is installed, and a compensation technique of the multipath signals should be performed in real-time. In this paper, a real-time calibration and error compensation method is proposed. A filter that estimates channel common error and channel-specific error sequentially is designed based on cubature Kalman filter and the fast and accurate estimation performance of this filter is verified experimentally.

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来源期刊

2018 IEEE 14th International Conference on Automation Science and Engineering (CASE)

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