In order to improve the positioning precision of ultra-wideband(UWB)positioning system in indoor complex environment,an improved positioning algorithm based on time of flight(TOF)and adaptive robust Kalman filtering(ARKF)is proposed.Aiming at the standard time deviation of ultra-low power consumption broad band devices that are susceptible to surrounding interference in complex indoor environments,an improved TOF algorithm is proposed,and the ranging calibration is carried out at the same time to fit the data.For the case of non-line-of-sight(NLOS)interference indoor,an ARKF algorithm is proposed,which judges the sight distance and NLOS situation by comparing the residual with the variance of 3 times the information.Experimental results show that the algorithm can effectively improve the positioning precision of the system,reduce the positioning error,and achieve better positioning effect in static and dynamic positioning experiments.
关键词
室内定位/超宽带/飞行时间/自适应抗差滤波/非视距误差
Key words
indoor positioning/ultra-wideband(UWB)/time of flight(TOF)/adaptive robust filtering/non-line-of-sight(NLOS)error
维普
万方数据