基于四点定位和拓展卡尔曼滤波的UWB定位及轨迹估计算法

UWB Positioning and Trajectory Estimation Algorithm Based on Four-Point Positioning and Expanded Kalman Filtering

摘要: 基于室内环境的复杂性和多变性，本文研究了超宽带(Ultra-Wideband, UWB)通信信号在信号干扰影响下的精确定位问题。首先采用四点定位法，利用UWB中的靶点与锚点的距离信息实现靶点的定位，并通过解决非线性最小二乘问题对定位算法进行改进；然后在随机生成具有固定靶点与锚点位置的数据集中，采用改进算法计算靶点的位置，并通过误差评估指标对算法进行误差分析，验证算法的有效性与适用性；最后利用拓展卡尔曼滤波对轨迹估计进行优化，得到精确的轨迹模型。

Abstract: Based on the complexity and variability of the indoor environment, this paper investigates the precise positioning of Ultra-Wideband (UWB) communication signals under the influence of signal interference. Firstly, the four-point positioning algorithm is adopted to achieve the target location using the distance information between the target point and the anchor point in UWB, and the positioning algorithm is improved by solving the nonlinear least squares problem. Secondly, in the randomly generated dataset with fixed target and anchor positions, the improved algorithm is used to calculate the position of the target, then the error analysis is carried out on the algorithm through the error assessment index to verify the effectiveness and applicability of the algorithm. Finally, the trajectory estimation is optimized using extended Kalman filtering to obtain an accurate trajectory model.