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
李文锋 1周敬龙 1王其 1蒋绍勇 1贺利军1
作者信息
- 1. 武汉理工大学交通与物流工程学院,武汉 430063
- 折叠
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.
Abstract
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.
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Key words
ultra wide band/ranging and positioning/non-line-of-sight identification/non-line-of-sight error mitigation/biased Kalman filter/maximum likelihood estimate引用本文复制引用
基金项目
海南省自然科学基金创新研究团队项目(621CXTD1013)
国家自然科学基金面上项目(62173263)
十三五国家重点研发计划项目(2019YFB1600400)
出版年
2024
NETL
NSTL
万方数据