Aiming at the problem of difficulty and low accuracy in tracking vehicles in tunnels,a vehicle tag tracking method based on ultra-wide band (UWB) technology was designed. In terms of tracking algorithm,firstly,the UWB-based time difference of arrival (TDOA) algorithm was used to locate the vehicle tag in real time;then an adaptive Kalman filtering method suitable for tunnel characteristics was used to effectively estimate the position of the vehicle tag in the tunnel. In terms of hardware design,the STM32 series chip was used as the central processing unit (CPU) and the DW1000 was used as the core communication component to make the base station and vehicle tags. Experimental testing and analysis were carried out in the Jingguang Road Tunnel,the results showed that the method can track vehicles in the tunnel,and the overall error is less than 30 cm,achieving real-time tracking of vehicles in the tunnel.
ultra-wide band (UWB)time difference of arrival (TDOA)adaptive Kalman filteringvehicle tag
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