CN107884745B - Atmospheric error processing method for UWB positioning - Google Patents

Atmospheric error processing method for UWB positioning Download PDF

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CN107884745B
CN107884745B CN201711003347.1A CN201711003347A CN107884745B CN 107884745 B CN107884745 B CN 107884745B CN 201711003347 A CN201711003347 A CN 201711003347A CN 107884745 B CN107884745 B CN 107884745B
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李清泉
刘炎炎
钟佳威
庄严
王冰
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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Abstract

The invention discloses an atmospheric error processing method aiming at UWB positioning, which solves the problem that the positioning accuracy of a label is reduced because a base station is far away from the position of the label when the real-time high-accuracy indoor positioning based on UWB is carried out, and the technical scheme is characterized in that: the method comprises the steps that the measurement distance between a label and a base station is obtained through UWB equipment, and an observation equation is established through the measurement distance between the base station and the label; introducing an atmospheric error parameter in the observation equation that is directly proportional to the measured distance; the position parameters and the atmospheric error parameters are compensated and calculated by a triangulation method, so that errors caused by atmospheric interference of signal propagation in the atmosphere are eliminated; the label position after the atmospheric error is eliminated and the real-time atmospheric error parameter are obtained through calculation and the calculation result is output, so that the positioning error caused by atmospheric interference when the signal is transmitted in the atmosphere is eliminated, and the purpose of outputting the positioning information of the high-precision label position is achieved.

Description

Atmospheric error processing method for UWB positioning
Technical Field
The invention relates to the technical field of ultra wide band indoor high-precision positioning, in particular to an atmospheric error processing method aiming at UWB positioning.
Background
Currently, indoor positioning is increasingly in wide demand. The UWB is a carrier-free communication technology, and uses nanosecond to microsecond non-sine wave narrow pulses to transmit data. It is called a revolutionary advance in the radio field, and is considered to become a mainstream technology of short-distance wireless communication in the future. UWB was used in the early days for near-distance high-speed data transmission, and recently, it has been used abroad to perform near-distance accurate indoor positioning by using sub-nanosecond ultra-narrow pulses.
Because the UWB-based indoor positioning method can particularly achieve the real-time centimeter-level positioning accuracy, the UWB-based indoor positioning method is widely applied to the field of indoor high-accuracy positioning.
However, when the distance between the base station and the tag is relatively long, the greatest defect that the high-precision positioning is restricted is that the distance measurement between the base station and the tag is inaccurate, which causes the positioning precision to be reduced, and is intolerable to users who need to perform real-time high-precision positioning.
In the prior art, under the condition of line of sight, the precision is reduced due to UWB real-time high-precision indoor positioning, and the interference caused by atmospheric error delay is serious when a base station and a tag are far away, so that the arrival time of a UWB signal is increased. There is no way to accurately calculate the distance between the base station and the tag.
Accordingly, there is still a need for development and improvement of the prior art.
Disclosure of Invention
The invention aims to provide an atmospheric error processing method aiming at UWB positioning, which achieves the purpose of eliminating positioning errors caused by atmospheric interference when signals are transmitted in the atmosphere, thereby outputting positioning information of a high-precision label position.
The technical purpose of the invention is realized by the following technical scheme:
an atmospheric error processing method for UWB positioning, wherein the method comprises:
the method comprises the steps that the measurement distance between a label and a base station is obtained through UWB equipment, and an observation equation is established through the measurement distance between the base station and the label;
introducing an atmospheric error parameter in the observation equation that is directly proportional to the measured distance;
the position parameters and the atmospheric error parameters are compensated and calculated by a triangulation method, so that errors caused by atmospheric interference of signal propagation in the atmosphere are eliminated;
and resolving to obtain the label position without the atmospheric error and the real-time atmospheric error parameter, and outputting a resolving result.
Further, the step of obtaining the measured distance between the tag and the base station through the UWB device, and establishing the observation equation through the measured distance between the base station and the tag further includes:
establishing a positioning coordinate system;
the location parameters include known base station coordinates and estimated initial tag coordinates.
Further, the step of performing compensation calculation on the position parameter and the atmospheric error parameter by a triangulation method so as to eliminate errors caused by atmospheric interference of signal propagation in the atmosphere specifically comprises the following steps:
performing Taylor expansion at the initial label coordinate position;
and performing recursive estimation on the position of the label by using a least square method.
Further, after the step of calculating to obtain the tag position without the atmospheric error and the real-time atmospheric error parameter and outputting the calculation result, the method further comprises:
and repeatedly carrying out Taylor expansion and least square method to solve until the precision of the position coordinates of the label reaches the preset precision requirement.
Further, the observation equation of the introduced atmospheric error parameter is:
Figure GDA0001628131320000031
wherein (x, y, z) represents the coordinates of the tag, (x)i,yi,zi) Coordinates of the ith base station, diRepresents the distance between the ith base station and the label, and k is an atmospheric error parameter;
the number of the base stations is at least 4.
Further, at the selected initial tag coordinate position (x)0,y0,z0) And performing Taylor series expansion, and neglecting components above the second order to obtain:
Figure GDA0001628131320000032
in the formula: x-x0，△y＝y-y0，△z＝z-z0，
Figure GDA0001628131320000033
d0i represents the distance between the initial tag location and the ith base station.
Further, when the number of the base stations is n, introducing a matrix B ═ AX, wherein:
Figure GDA0001628131320000034
Figure GDA0001628131320000041
Figure GDA0001628131320000042
wherein, the delta x, the delta y and the delta z are position error parameters;
the matrix B represents the observed value of the ith base station, the matrix A represents the observation design matrix, and the matrix X represents the state parameter.
Further, a least squares estimate of X can be obtained by solving the equation with least squares:
Figure GDA0001628131320000043
thereby obtaining the position error parameters delta x, delta y and delta z and the real-time atmospheric error parameter k.
Further, the step of repeatedly performing taylor expansion and least square solving until the precision of the position coordinates of the tag reaches a preset precision requirement specifically comprises:
performing algorithm iteration, substituting the initial coordinate (x) of the label0,y0,z0) Obtaining a first set of values of Δ x, Δ y, Δ z, k, updating x at the next iteration0＝x0+△x，y0＝y0+△y，z0＝z0And +/-Delta z, and repeating the process until the precision of the position coordinates of the label reaches the preset precision requirement.
Further, the preset precision requirement specifically includes:
presetting a threshold delta, and when the absolute delta x plus the absolute delta y plus the absolute delta z is less than or equal to the delta, obtaining position coordinates (x, y, z) which are the label positions estimated after multiple iterations.
In conclusion, the atmospheric error parameters are introduced into the observation equation, and the position parameters and the atmospheric error parameters are compensated and calculated together, so that the purpose of eliminating errors caused by atmospheric interference of signal propagation in the atmosphere and outputting high-precision positioning information of the label position is achieved.
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Fig. 1 is a flow chart of a preferred embodiment of the atmospheric error processing method for UWB positioning according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
Example (b): an atmospheric error processing method for UWB positioning, as shown in fig. 1, the method comprising:
s100, obtaining a measurement distance between a label and a base station through UWB equipment, and establishing an observation equation through the measurement distance between the base station and the label;
preferably, the number of the base stations is at least 4;
since the position of a point in space can be uniquely determined by the distances of 4 known points to the point, the position of the tag can be uniquely determined by the UWB device obtaining the measured distances between the tag and at least 4 base stations.
S200, introducing an atmospheric error parameter which is in direct proportion to the measured distance into the observation equation;
specifically, the observation equation with the atmospheric error parameter introduced is as follows:
Figure GDA0001628131320000061
wherein (x, y, z) represents the coordinates of the label, (xi, yi, z)i) Coordinates of the ith base station, diDenotes the distance of the ith base station from the tag, and k is an atmospheric error parameter.
In UWB indoor high-precision positioning, setting an atmospheric error parameter in direct proportion to a measured distance can fully meet the requirement of eliminating the atmospheric error.
S300, compensating and resolving the position parameters and the atmospheric error parameters together by a triangulation method so as to eliminate errors caused by atmospheric interference of signal propagation in the atmosphere;
the position parameters and the atmospheric error parameters are solved together by a triangulation method, so that the high-precision label position and the real-time atmospheric error parameters after atmospheric error compensation can be obtained.
And S400, resolving to obtain the label position without the atmospheric error and the real-time atmospheric error parameter, and outputting a resolving result.
Further, the step S100 previously further includes:
s001, establishing a positioning coordinate system;
the location parameters include known base station coordinates and estimated initial tag coordinates.
Specifically, a positioning coordinate system is established in the space, wherein the position parameters comprise base station coordinates and tag coordinates, the base station coordinates are known coordinate parameters, the tag coordinates are target parameters to be solved, and an estimated initial tag coordinate is set before the tag coordinates are solved.
Further, the step S300 specifically includes:
s301, performing Taylor expansion at the initial label coordinate position;
specifically, an initial tag seat is setIs marked as (x)0,y0,z0) At the selected initial tag coordinate position (x)0,y0,z0) Performing Taylor series expansion, and neglecting components above the second order:
Figure GDA0001628131320000071
and (3) calculating to obtain:
Figure GDA0001628131320000072
in the formula: x-x0 and y-y0，△z＝z-z0，
Figure GDA0001628131320000073
d0iIndicating the distance between the initial tag location and the ith base station.
When the number of the base stations is n, introducing a matrix B ═ AX, wherein:
Figure GDA0001628131320000074
wherein (x)0,y0,z0) Is the initial position of the tag, (x)1,y1,z1)、(x2,y2,z2)、…、(xn,yn,zn) And position coordinates of base stations 1, 2, … and n are sequentially shown. d1、d2、…、dnRespectively expressed as the distance between the nth 1, 2 and … base stations and the label; d01、d02、…、d0nDenotes the distance between the nth 1, 2, … base stations and the initial position tag.
Figure GDA0001628131320000075
Figure GDA0001628131320000081
Wherein, the delta x, the delta y and the delta z are position error parameters;
the matrix B represents an observed value of the ith base station, the matrix A represents an observation design matrix, the matrix X represents state parameters, and the number of the base stations is at least 4.
And S302, carrying out recursive estimation on the position of the label by using a least square method.
Specifically, a least squares estimate of X can be obtained by solving the equation with least squares:
Figure GDA0001628131320000082
thus, position error parameters delta x, delta y and delta z are obtained, wherein k obtained at the moment is the real-time atmospheric error parameter.
Further, after the step S300, the method further includes:
and S310, repeatedly carrying out Taylor expansion and least square method to solve until the precision of the position coordinates of the label reaches the preset precision requirement.
Specifically, the step S310 specifically includes:
performing algorithm iteration, substituting the initial coordinate (x) of the label0,y0,z0) Obtaining a first set of values of Δ x, Δ y, Δ z, k, updating x at the next iteration0＝x0+△x，y0＝y0+△y，z0＝z0And +/-Delta z, and repeating the process until the precision of the position coordinates of the label reaches the preset precision requirement.
The preset precision requirement specifically comprises:
presetting a threshold delta, and when the absolute value of delta x is less than or equal to the absolute value of delta y and the absolute value of delta z is less than or equal to delta, obtaining position coordinates (x, y, z) which are the label positions estimated after multiple iterations.
In the present embodiment, the threshold Δ is preferably 30 cm. Wherein, when the threshold value delta is 30cm, the positioning precision of daily use can be ensured. In other embodiments, the threshold Δ may be set to other values according to actual needs.
In summary, the invention uses the measured distances between one tag and i (i ≧ 4) reference stations to establish an observation equation. The method comprises the steps of eliminating components with more than two orders through Taylor series expansion for linearization, resolving and obtaining a position error parameter and a real-time atmospheric error parameter at the same time according to an atmospheric error parameter which is introduced and is in direct proportion to a measured distance, and then iterating an algorithm until the precision of a label position coordinate reaches a preset precision requirement, so that errors caused by atmospheric interference of signal propagation in the atmosphere are eliminated, and finally the label position meeting a specific precision requirement is resolved.
It is to be understood that the invention is not limited to the examples described above, but that modifications and variations may be effected thereto by those of ordinary skill in the art in light of the foregoing description, and that all such modifications and variations are intended to be within the scope of the invention as defined by the appended claims.

Claims (4)

1. An atmospheric error processing method for UWB positioning, characterized in that the method comprises:
establishing a positioning coordinate system;
the method comprises the steps that the measurement distance between a label and a base station is obtained through UWB equipment, and an observation equation is established through the measurement distance between the base station and the label;
introducing an atmospheric error parameter in direct proportion to the measured distance into the observation equation, wherein the observation equation of the atmospheric error parameter in direct proportion to the measured distance is as follows:
Figure FDA0003064233520000011
wherein (x, y, z) represents the coordinates of the tag, (x)i，yi，zi) Coordinates of the ith base station, diRepresents the distance between the ith base station and the label, and k is an atmospheric error parameter; the number of the base stations is at least 4;
the method comprises the steps of compensating and resolving position parameters and atmospheric error parameters together by a triangulation method so as to eliminate errors caused by atmospheric interference of signal propagation in the atmosphere, wherein the position parameters comprise base station coordinates and label coordinates, the base station coordinates are known coordinate parameters, the label coordinates are target parameters to be solved, and an estimated initial label coordinate is set before the label coordinates are solved;
resolving to obtain the label position after eliminating the atmospheric error and the real-time atmospheric error parameter and outputting a resolving result;
the method for compensating and resolving the position parameters and the atmospheric error parameters together by the triangulation method so as to eliminate errors caused by atmospheric interference of signal propagation in the atmosphere comprises the following steps: performing Taylor expansion at the initial label coordinate position, and setting the initial label coordinate position as (x)0，y0，z0) At the selected initial tag coordinate position (x)0，y0，z0) Performing Taylor series expansion, and neglecting components above the second order:
Figure FDA0003064233520000021
and (3) calculating to obtain:
Figure FDA0003064233520000022
in the formula: Δ x ═ x-x0，Δy＝y-y0，Δz＝z-z0，
Figure FDA0003064233520000023
d0iRepresents the distance between the initial tag location and the ith base station;
when the number of the base stations is n, introducing a matrix B ═ AX, wherein:
Figure FDA0003064233520000024
wherein (x)1，y1，z1)、(x2，y2，z2)、...、(xn，yn，zn) Position coordinates of base stations 1, 2, 11、d2、...、dnIs denoted as the distance between the base station and the tag, d, 1, 201、d02、...、d0nMeans a distance between the nth 1, 2,. and the initial position tag;
Figure FDA0003064233520000025
Figure FDA0003064233520000026
in the formula, delta x, delta y and delta z are position error parameters;
the matrix B represents an observed value of the ith base station, the matrix A represents an observation design matrix, and the matrix X represents a state parameter;
and (3) carrying out recursive estimation on the position of the label by using a least square method:
Figure FDA0003064233520000031
thereby obtaining the position error parameters delta x, delta y and delta z and the real-time atmospheric error parameter k.
2. The atmospheric error processing method for UWB positioning according to claim 1, wherein the step of calculating the tag position after the atmospheric error is eliminated and the atmospheric error parameter in real time and outputting the calculated result further comprises:
and repeatedly carrying out Taylor expansion and least square method to solve until the precision of the position coordinates of the label reaches the preset precision requirement.
3. The atmospheric error processing method for UWB positioning according to claim 2, wherein the step of repeatedly performing taylor expansion and least square solution until the accuracy of the tag position coordinates reaches a preset accuracy requirement specifically comprises:
the iteration of the algorithm is carried out and,substituting into the initial coordinates (x) of the tag0，y0，z0) A first set of values of Δ x, Δ y, Δ z, k is obtained, and x is updated on the next iteration0＝x0+Δx，y0＝y0+Δy，z0＝z0And + delta z, repeating the process until the precision of the position coordinates of the label reaches the preset precision requirement.
4. The atmospheric error processing method for UWB positioning according to claim 3, wherein the preset precision requirement is specifically:
and presetting a threshold delta, wherein when the absolute value of delta x plus the absolute value of delta y plus the absolute value of delta z is less than or equal to delta, the obtained position coordinates (x, y, z) are the label positions estimated after multiple iterations.
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CN110290463B (en) * 2019-08-05 2021-03-12 杭州智鹍科技有限公司 UWB base station coordinate automatic calibration method and system based on optimization theory
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