| Today,with the rapid development of the Internet of Things and communication systems,more and more intelligent services based on location information have appeared in people’s field of vision.Among them,it is particularly important to obtain location information quickly and accurately.Positioning can be divided into outdoor positioning and indoor positioning according to application scenarios.Outdoor positioning mostly adopts traditional satellite positioning technology,which can basically meet people’s daily needs.For indoor positioning,due to the obstruction of obstacles,it will seriously interfere with the transmission of satellite signals and cause positioning accuracy decreases,so indoor positioning technology has also become a hot research topic.Traditional indoor positioning technology mostly adopts the mode of base station users,that is,using multiple anchor points to locate the target to be located.Because anchor points need to be deployed in the application scenario in advance,the deployment cost of the positioning system is high,and the flexibility is poor.Aiming at the problems existing in traditional indoor positioning technology,based on the anchor-free positioning method,this paper improves the dual-node and multi-node application scenarios respectively,and designs and implements an anchorless personnel cluster autonomous positioning system based on ultrawideband(UWB).Experiments show that the system has high positioning accuracy and stable positioning performance in the absence of anchor points.In order to design and implement an autonomous positioning system for personnel clusters without anchor points,this paper firstly starts from the acquisition of original data,and elaborates the UWB ranging model and communication mechanism.The full ranging algorithm based on the token network obtains the original data,and at the same time collects and corrects the original data.The error of the original data is reduced.Experiments show that the full ranging algorithm can quickly and stably obtain the distance information between any nodes and the pedestrian dead reckoning(PDR)information of all nodes.At the same time,the accuracy of UWB ranging raw data can reach centimeter level.It can meet the needs of autonomous positioning algorithms for people without anchor points.Secondly,this paper expounds the principle of the autonomous positioning algorithm for personnel clusters without anchor points in detail,and points out the problem of PDR accumulation error existing in the algorithm.At the same time,the algorithm is improved and optimized for dual-node and multi-node,and the influence of positioning accuracy is comprehensively considered.And the positioning results are iteratively corrected to further improve the positioning accuracy of the system..The experimental results show that the improved algorithm has higher positioning accuracy and more stable positioning performance.Finally,the algorithm and system proposed in this paper are implemented using UWB development board.The system is mainly composed of UWB development board,communication module and host computer.The UWB development board is mainly responsible for the acquisition,processing and final positioning algorithm implementation of the original data;the communication module is mainly responsible for data transmission between the UWB development board and the host computer;the host computer is mainly responsible for data reception,processing and real-time display of the location information of each node.After the system is built,field tests and verifications are carried out for different application scenarios.The results show that the system has high positioning accuracy and high real-time positioning,which can basically meet the needs of personnel cluster positioning. |
PDF Full Text Request