Improved UWB indoor 3D positioning method based on Taylor-Chan algorithm
[Objective]Ultra Wide Band(UWB)can transmit without being retarded by obstacles in indoor Line of Sight(LOS)environments,but the positioning effect may not be ideal due to hardware device delays,signal attenuation,and other reasons.Meanwhile,the indoor Non Line of Sight(NLOS)environment is more complex and variable,and the inevitable presence of obstructions leads to a decrease in positioning algorithm accuracy and stability.Herein we attempt to improve the positioning accuracy of UWB in indoor 3D space LOS and NLOS environments.[Methods]Indoor 3D spatial positioning models and the traditional Taylor algorithm and Chan algorithm are studied and analyzed.The Taylor algorithm requires initial coordinates within a certain precision,and the Chan algorithm's positioning accuracy will significantly decrease with the increase of indoor obstacles in NLOS environments.Due to the concern mentioned above,an improved Taylor-Chan positioning algorithm is proposed.First,the initial positioning result of the label is obtained using the simplified Taylor algorithm.Then,based on the initial positioning result,a filtering function is designed to reject base stations and ranging data with large error.Finally,the final positioning result is derived from the filtered data using the Chan algorithm.[Results]Simulations are conducted under scenarios of both indoor LOS and NLOS.Compared to Chan and Taylor algorithm,the proposed algorithm can improve positioning accuracy by approximately 15％and 50％under indoor LOS scenarios.Meanwhile,the proposed algorithm can improve positioning accuracy by about 58％and 66％under NLOS scenarios,overcoming the large ranging errors.Besides,the Taylor-Chan algorithm can effectively eliminate the impact of ranging errors and ensure the positioning accuracy.By contrast,the positioning deviations of Chan and Taylor increase as the ranging errors increase.[Conclusions]Our simulation results demonstrate that the proposed algorithm can effectively improve(1)positioning accuracy under both LOS and NLOS scenarios in indoor 3D space and(2)eliminating the influence of ranging errors.
3D positioningultra wide band(UWB)Taylor algorithmChan algorithmevaluation function
万方数据
维普
