基于冗余距离筛选的UWB定位优化方法

张少辉; 亓玉浩; 翟方文; 吕洪波; 宋亦旭

doi:10.16511/j.cnki.qhdxxb.2021.21.040

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清华大学学报（自然科学版） ›› 2022, Vol. 62 ›› Issue (5) : 934-942. DOI: 10.16511/j.cnki.qhdxxb.2021.21.040

计算机科学与技术

基于冗余距离筛选的UWB定位优化方法

张少辉^1,3, 亓玉浩², 翟方文¹, 吕洪波⁴, 宋亦旭¹

作者信息 +

UWB positioning optimization method based on redundant distance screening

ZHANG Shaohui^1,3, QI Yuhao², ZHAI Fangwen¹, L�Hongbo⁴, SONG Yixu¹

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文章历史 +

摘要

超宽带（ultra wide band，UWB）定位技术根据距离参量建立标签定位的数学模型。由于测距误差的存在，标签定位的精确求解问题转换为非线性方程组的优化问题。在某项距离误差较大时，现有的优化方法可能会失效。该文提出基于冗余距离筛选的优化方法，以多个定位标签的间距为约束条件，对冗余距离设置权值进行筛选，使用梯度下降法优化Caffery方法计算的坐标初值。该方法在仿真实验中定位误差仅为Caffery-Taylor （CT）方法的70%，在真实数据实验中优化效果明显好于CT方法。

Abstract

Ultra wide band (UWB) positioning technology establishes a mathematical model of the target location based on distance parameters. The problem of accurately solving the tag point positioning is transformed into an optimization problem of nonlinear equations due to ranging errors. Existing optimization methods may fail when certain distance errors are large. Therefore, this paper proposes an optimization method based on redundant distance screening by considering the distances between multiple positioning tags as constraints, filtering the redundant distances by weighting, and using a gradient descent method to optimize the initial value calculated by the Caffery method. In simulation experiments, the positioning error of this method is only 70% of the Caffery-Taylor (CT) method. In real data experiments, this method outperforms the CT method in terms of the optimization effect.

导出引用

张少辉, 亓玉浩, 翟方文, 吕洪波, 宋亦旭. 基于冗余距离筛选的UWB定位优化方法[J]. 清华大学学报（自然科学版）. 2022, 62(5): 934-942 https://doi.org/10.16511/j.cnki.qhdxxb.2021.21.040

ZHANG Shaohui, QI Yuhao, ZHAI Fangwen, L�Hongbo, SONG Yixu. UWB positioning optimization method based on redundant distance screening[J]. Journal of Tsinghua University(Science and Technology). 2022, 62(5): 934-942 https://doi.org/10.16511/j.cnki.qhdxxb.2021.21.040

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收稿日期	出版日期
2021-07-21	2022-05-15
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2022-04-26

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