Research On Indoor Object Collision-Avoidance Method Based On UWB Technology And Error Correction

In the indoor environment,such as warehouse and underground parking lot,indoor traffic accidents occur frequently,resulting in the loss of life and property.In order to ensure the safety of personnel and vehicle in indoor environment,it is necessary to make a timely warning before a collision accident happen.Therefore,it is of great significance to improve the technology of indoor object collision warning and location,and to develop an indoor object collision avoidance system.Due to GPS technology can not solve the problem of indoor positioning,researchers began to study the method of indoor positioning based on wireless communication technology.In this paper,the principle and characteristics of indoor positioning technology are analyzed,and some technologies and research achievements in the field of object collision-avoidance are introduced.According to the basic concept and positioning principle of ultra wide band,the collision avoidance process is divided into two aspects.On the one hand,in order to detect the collision state of indoor objects,this paper proposes a collision avoidance strategy based on UWB technology.The strategy firstly constructs bounding box of indoor objects based on their positions getting by UWB.Indoor objects are divided into moving objects and static objects according to their motion state,then moving objects are enqueued to the detection queue.Secondly,the hierarchical bounding box tree of moving objects is extended by computing safe distance.After all the objects are inserted into a quadtree node according to their positions,objects in detection queue are dequeued to do intersection with other objects in turn.At last,the simulation demonstrate the proposed method has a good performance in indoor object collision detection.On the other hand,to solve the NLOS problem,this paper analyzes research status of positioning error mitigation algorithm,then proposes a CHAN algorithm based on Low Computational Cost Residual Weighting(CHAN-LCCRW),and carries on the simulation experiment.The simulation results prove that the algorithm restrains NLOS error better than traditional algorithms.In addition,this paper also completes demand analysis,modeling and design of ultra wide band forklift anti-collision system.