UWB-Based Indoor Accurate Navigation Research And Implementation

With the growing business needs of LBS(location based services), aiming at the complex indoor environment moving subject navigation and positioning issues research gradually becomes the focus of research in the field of Internet of things, the field of geographic information, computer science. Real time and accurate positioning and navigation system in the medical field, has wide application range of security, logistics, automatic control, intelligent monitoring and other fields, so the research and application of wireless network based on navigation technology has broad prospects for development.The current outdoor navigation and positioning technologies(such as GPS technology, etc.) in the indoor environment, there is a serious shortage of indoor positioning accuracy of GPS signals penetrate walls and cause signal attenuation and other serious problems, so do not apply to indoor precise navigation. Some indoor navigation technologies such as WSN(wireless sensor networks) navigation, RFID(radio frequency identification technology) navigation is slow because of the low accuracy of the indoor environment modeling grid map is relatively difficult, so these indoor navigation system and the corresponding navigation algorithm can not meet the high precision, high real-time requirements indoors.Aiming at the existing problem of the navigation system, this paper mainly does the following work:(1) According to the characteristics of UWB(Ultra-Wideband) technology, Combined TOA and TDOA location algorithm, Proposed an improved positioning algorithm optimization fixes UWB positioning precision navigation technology, while research and discussion of the two cases of the three sensors with more than four UWB sensors in navigation accuracy correction methods and models.(2) Through the re-optimize and design of BEST-FIRST A* algorithm and IDA* iterative deepening search algorithm, SMA* algorithm, we introduce linear fitting technique, the improved algorithm and automatically generate a navigation route optimization, resulting in regional navigation in the navigation route distance is shorter, more accurate, faster speed, could basically meet the needs of UWB technology in the practice application environment.(3) Relying the Ubisense7000 hardware device, Using the optimized positioning algorithm and A * Improved algorithm design and implement a suitable UWB technology, high accuracy and fast navigation system, realized the precise indoor navigation describes regional grid map navigation and visualization of the known indoor environments.(4) Through the navigation environment test and precision navigation system module test in the real scene and simulation scene, to ensure the reliability and real-time of navigation system.