Research On High Precision Indoor Multi-dimensional Localization Algorithm And Experimental Verification

With the popularity of intelligent devices and the rapid development of mobile Internet,Location Based Service(LBS)has become an indispensable part of daily life.People spend more time indoors than outdoors,which makes indoor positioning becomes a research hotspot.With the development of technology,the requirement for indoor positioning accuracy is getting higher and higher.However,most indoor positioning technology has already confronted with the accuracy bottleneck.Moreover,many studies are restricted to indoor two-dimensional positioning,while the research on indoor multi-dimensional positioning is relatively scarce.Thus,this dissertation focuses on the key technologies of high-precision indoor multi-dimensional positioning.The main work of this thesis is as follows.(1)The research background of indoor positioning as well as the research status of UWB positioning technology are described.And an indoor multi-dimensional positioning scheme based on UWB are proposed.(2)The advantages and disadvantages of existing ranging algorithms for UWB communication module are analyzed.In order to reduce ranging time and eliminate crystal oscillation deviation of UWB module,the Asymmetry Double-Sided Two-Way Ranging(ADS-TWR)algorithm is proposed.Simulation results show that the ADS-TWR algorithm can obtain more precise Time of Flight(ToF)in a shorter time.(3)The Chan assisted Extended Kilman Filter algorithm is presented,fusing he ability of Chan algorithm to quickly calculate the localization results and the Kalman filter to filter the system disturbance and observation error,to solve the Time Difference of Arrival(TDoA)equation more quickly and accurately.Simulation results show that the Chan-EKF algorithm is superior to other algorithms in positioning accuracy.(4)The platform of high-precision indoor multi-dimensional positioning system(IPS)based on UWB is developed,including the hardware design and software implementation,to track the UWB blind nodes with different moving trajectories.Experimental testing results show that the proposed IPS can achieve faster and more accurate localization.The platform in the thesis has been awarded the first Prize in the National Three-Innovation Competition in Internet of Things Technology and IV Application by China Institute of Communications(CIC)in 2018...