超宽带信号的非视距识别与测距误差抑制

Non-line-of-sight identification and ranging error mitigation for ultra wide band signal

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中文摘要：针对超宽带信号在非视距环境下测距误差大等问题,基于首径和最强径的位置差、接收信号与首径的功率差及距离残差,提出一种计算简单、识别准确度高的非视距识别方法,并基于偏置卡尔曼滤波和极大似然估计算法,提出一种超宽带信号接收强度与信号达到时间相融合的非视距误差抑制方法,最后开展动、静态场景实验以验证算法的可靠性.实验结果表明,所提出的方法对于非视距场景的平均识别准确度达到95.42％,定位的平均距离误差在0.14m以内.

外文摘要：For the problems such as high ranging errors of ultra wide band(UWB)in the non-line-of-sight(NLOS)environment,a NLOS identification method is proposed based on the position difference between the first path and strongest path,the power difference between the received signal and the first path,and the distance residuals.This algorithm is easy to calculate and has high identification accuracy.Further,a NLOS error mitigation method with received signal strength and time of arrival fusion is proposed based on the biased Kalman filtering and maximum likelihood estimation algorithms.Finally,experiments in dynamic and static scenarios are carried out to validate the proposed algorithm.The experimental results show that the average identification accuracy of the proposed method reaches 95.42％for NLOS scenes,and the average distance error of positioning is within 0.14 m.

外文关键词：

ultra wide bandranging and positioningnon-line-of-sight identificationnon-line-of-sight error mitigationbiased Kalman filtermaximum likelihood estimate

作者：

李文锋、周敬龙、王其、蒋绍勇、贺利军

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作者单位：

武汉理工大学交通与物流工程学院,武汉 430063

关键词：

超宽带测距与定位非视距识别非视距误差抑制偏置卡尔曼滤波极大似然估计

基金：

海南省自然科学基金创新研究团队项目国家自然科学基金面上项目十三五国家重点研发计划项目

项目编号：

621CXTD1013621732632019YFB1600400

出版年：

2024

DOI：

10.13195/j.kzyjc.2023.0260

控制与决策

东北大学

控制与决策

CSTPCD北大核心

影响因子：1.227

ISSN：1001-0920

年,卷(期)：2024.39(8)