Research On Key Techniques Of UWB Beacon In The Indoor Positioning System

Nowadays,with the mobile terminal,Internet of Things,virtual reality and other technologies flourishing,the acquisition of information on the location of people and materials is more and more needed and concerned by people.Location information has become the indispensable foundation and support for carrying out a lot of business.Such as intelligent storage and intelligent transportation in the field of things;somatosensory games and human-computer interaction in the field of virtual reality;navigation services and data statistics in the field of mobile terminal,without exception,pushed the access and perception of the location to the more important Status.It provides better management support for the community and brings more additional services for users.Based on the above-mentioned requirements,the ultra-wideband signal is selected as the positioning signal system compared with the existing positioning technology.Based on the time resolution of the UWB signal,the classical positioning algorithms based on the TDOA hyperbolic model are compared and analyzed as the starting point to the TDOA localization algorithm.Based on the inherent defects of the TDOA hyperbolic model,a hyperboloid intersection positioning algorithm is proposed.In addition,the tracking correction algorithm based on Kalman filter and motion state information fusion is researched in order to improve the positioning performance.Finally,the overall design of the UWB positioning system is carried out,and the experimental platform is built to verify the feasibility of the positioning system,and the above-mentioned multiple positioning algorithms are analyzed and validated.The main work of this dissertation includes:1.The TDOA hyperbolic model is analyzed,and the classical positioning algorithms based on TDOA hyperbolic model is researched,including Chan algorithm,AML algorithm and Talyor series expansion algorithm.The feasibility of the above localization algorithms are compared and analyzed theoretically.2.Based on the drawbacks of the TDOA hyperbolic model,a hyperboloid intersection positioning algorithm is proposed to avoid the influence of the height difference on the localization results.A simple computing method for the hyperboloid intersection positioning algorithm is researched,and the computational complexity of the higher order equation is reduced.3.The tracking correction algorithms are studied in two directions.The one is based on Kalman filter,and the other one is the sensor fusion algorithm based on the motion state information.The extended Kalman filter applied to TDOA positioning principle is researched and verified by simulation.And the IMU system is introduced to further improve the positioning effect through the fusing of the motion status information output by the IMU system output and TDOA positioning results.4.The overall scheme of UWB positioning system is designed,including the modular design of UWB transmitter and receiver,and the synchronization mechanism between base stations,timing and initialization link of the positioning system are designed.And the experimental platform is built in order to verify the performance of the positioning system,and a variety of positioning algorithms are analyzed and verified.