UWB positioning optimization method based on redundant distance screening

ZHANG Shaohui; QI Yuhao; ZHAI Fangwen; L?Hongbo; SONG Yixu

doi:10.16511/j.cnki.qhdxxb.2021.21.040

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Journal of Tsinghua University(Science and Technology) ›› 2022, Vol. 62 ›› Issue (5) : 934-942. DOI: 10.16511/j.cnki.qhdxxb.2021.21.040

COMPUTER SCIENCE AND TECHNOLOGY

UWB positioning optimization method based on redundant distance screening

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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.

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ultra wide band (UWB) / pose solver / distance screening / gradient descent

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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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