| The rapid development of Internet of Things(Io T)technology has introduced a variety of positioning technologies,making location-based services an essential part of our daily lives.In outdoor environments,GPS and other satellite navigation systems provide highly accurate location information.However,indoor environments present unique challenges as satellite signals are attenuated,necessitating the use of other technical means to obtain precise location information.Compared to satellite navigation systems,Ultra-Wide Band(UWB)technology offers many advantages such as low power consumption,high-speed transmission,strong anti-interference capability,and high security,making it well-suited for high-precision indoor positioning systems.This paper presents the design of a high-precision indoor positioning system based on UWB technology that measures the distance between the base station and positioning tag using UWB signals,and calculates the position of the tag through an algorithm.The thesis compares several common positioning methods and selects a scheme based on Time of Arrival(TOA),which uses the optimized Double-Sided Two-Way Range(DS-TWR)method to measure the distance between the base station and positioning tag.The DS-TWR method improves ranging accuracy,reduces the system’s dependence on clock synchronization,and lowers hardware costs.To enhance the positioning accuracy of the TOA positioning scheme,this paper studies the positioning algorithm,conducts simulation analysis and comparison of typical algorithms,and selects the Taylor algorithm as the system positioning algorithm.The Kalman filter is used to process the ranging value for non-line-of-sight errors in complex indoor environments,while the combined use of the Kalman filter and Taylor algorithm further optimizes the system’s accuracy and stability.For 2D position estimation in 3D space,this paper proposes the HTKF algorithm,which considers height information to achieve precise positioning.Simulation results show that the proposed algorithm can reduce non-line-of-sight errors and improve the system’s positioning accuracy.This project has successfully completed the hardware and software design of an indoor positioning system.The DWM1000 module was chosen to facilitate both the reception and transmission of ultra-wideband(UWB)signals,while the barometer was employed for altitude measurement.The upper computer software includes features such as interactive interfaces,track displays,and configurable settings.After conducting extensive field tests,the designed system was found to achieve a high level of accuracy,with a positioning precision of 15 cm for fixed point positioning,which adequately fulfills the requirements of most indoor positioning applications. |
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