Study And Design Of Indoor Positioning System Based On Cooperative Localization Algorithm

With the development of the need of location, the indoor localization has become one ofthe hottest technologies in the communication area. It was of important significances to studythe high accuracy indoor location system, because it has tremendous business prospect. Thispaper firstly introduce the signal design of the chirp signal, and the basic theory of pulsecompress, we choose the nanoLOC ranging chip to build the hardware platform. Then,considering the location accuracy, this paper presents the cooperative location algorithms. Atlast, this paper did the experiment with the cooperative algorithm on the hardware platform.Research has been done on the basic theory analysis, algorithm study, simulation research,design and implementation. Main contents and innovation points in this paper are as follows:Firstly, a research status of indoor location technology, the chip spread spectrumtechnology have been summarized. The definition of the chirp signal, the basic theory of thepulse compress and the character of the chirp signal have been briefly described.Secondly, hardware implementation has been determined. We design the software underthe Keil uVision4environment. And the software window has been done by the C++builder6.0. We do the ranging experiments in the corridor of the library. By analysis the ranging data,we present a method of error fingerprint database, and denote a cooperative ranging algorithmof SDS TWR and RSSI. We can obtain about1.5meters ranging error by using the lateralgorithm.Thirdly, we study the localization algorithm, and present a cooperative algorithm ofweighted geometric method and Taylor series expansion method. In order to implement the fastlocalization, we promote the algorithm based on LSE and Kalman filter. This algorithm startswith the improvement of the location accuracy. Some parameters of the algorithm have beencarried out in depth analysis and detailed simulations have been determined. And then thispaper present cooperative algorithm which is based on the state transfer matrix and Kalmanfilter, the location accuracy of this algorithm has been improved by using this algorithm.Finally, we proved that if there is only three anchor nodes, put them in equilateral trianglecould get the highest accuracy. We did the experiment on the platform and could get thepreliminary location results, the cumulative probability of1.5m can achieve50%. So thisindoor localization system can obtain practicability when the required accuracy is not high.