Design Of UWB Indoor Positioning System Based On DWM1000

With the rapid development of modern science and technology,information exchange and navigation and location services are beginning to flourish.Location-based communication services have been applied in various fields.In human society,the requirements of target detection,location tracking and navigation are increasing day by day.Especially in a staff-intensive indoor environment,a positioning system with strong communication capability,low power consumption and high positioning accuracy is urgently needed.At present,a new UWB technology is quietly entering the daily life of people.UWB features ultra-low transmit power,ultra-high data rate and wide signal bandwidth.Based on the above features,UWB is believed to be the future As one of the most advanced radio technologies,UWB is ideally suited for building indoor positioning platforms.In this paper,UWB as the basis of indoor positioning research,first of all,around DecaWave company's DWM1000 positioning base station and the measured mobile station hardware design and development,set up to STM32 series as a microprocessor positioning platform;then on this platform The corresponding embedded software development to achieve the exchange of information between the peripherals;then discussed several commonly used ranging positioning technology to determine the most suitable TOA UWB positioning ranging technology,and then around the TOA several ranging Methods Based on the analysis of the ranging time and clock drift of these methods on the ranging error and the error simulation diagram,a method based on SDS-TWR to reduce the ranging time and eliminate the effect of clock drift is proposed.Distance algorithm and prove its validity.Then the research on the location algorithm is carried out and the commonly used indoor location algorithm is studied.A Taylor fusion algorithm based on least square method is proposed.Then the situation of ranging fault may occur for some base stations under multi-base station location,which will be applied to GPS receiver The RAIM algorithm in the machine is transplanted into the system and adaptively improved.Then,the UKF is added to deal with the potential jumps in continuous positioning.Finally,the hardware platform is used to test the RAIM algorithm.The final experimental results show that The system of indoor ranging error of 10 cm,positioning accuracy of up to 20 cm and troubleshooting can eliminate the positioning of the imprecise positioning problems,to complete a good positioning and tracking.