Research On Precise Positioning Technology Of Indoor Space Vehicles Of Simulation Training System

At present,simulation training systems are increasingly used in military,medical and other fields.The use of information collection input and output equipment and computer simulation scenes have an interactive effect.In terms of positioning,through the implementation of simulation training systems,small venues can be used to simulate large venues.Observe the position and trajectory of the moving point.In life,it is usually necessary to determine the location of work equipment or vehicles in an indoor environment.However,the GPS system has a large error and is not suitable for indoor positioning in a small range.In order to solve the problem of indoor accurate positioning,this article focuses on the UWB technology that is suitable for indoor positioning with a small error range.Starting from the analysis of positioning principles,proposing optimization algorithms,making hardware modules,and designing experimental processes,the indoor positioning system is combined with the simulation training system to achieve precise positioning of the vehicle in the indoor space of the simulation training system.This thesis first introduces several indoor positioning sensor technologies.Through performance comparison,UWB technology with high accuracy and low delay time is selected,and then the focus is on the positioning principles and algorithms of UWB technology,and four common UWB positioning technologies are compared.,Selected the TDOA positioning algorithm;in the ranging algorithm,the TDOA-based bilateral two-way ranging algorithm makes the results more accurate.The TDOA-based Taylor and Chan algorithms are deduced and analyzed,and the Chan algorithm is selected,and a method based on the least squares method is proposed.Chan algorithm performs algorithm optimization.In terms of hardware,this article focuses on the design of a ranging system composed of upper computer and lower computer.The lower computer system is composed of Arduino and UWB system.As the MCU of the lower computer,Arduino is the main device for serial communication with the upper computer.The UWB system is a self-designed module expansion board,and the components are selected and welded.Unity3 D is used as a host computer system to receive data and display it in the simulation scene.Finally,through experiments and data analysis,it is concluded that the average error of ranging in the line-of-sight environment is about 20 cm,and the root mean square error of positioning coordinates is 15.40 cm.After the algorithm is optimized,the average error of ranging is about 10 cm,and the root mean square of positioning coordinates The error is 9.55 cm.The comparison shows that the ranging error is reduced by 10 cm,and the root mean square error of the positioning coordinates is reduced by 5.85 cm.This verifies the feasibility and practicability of the independently developed hardware platform.The improved algorithm makes the measurement results more accurate and reliable.The measured data is uploaded to the host computer through the serial port and displayed in the indoor environment simulated by Unity3 D to achieve simulation.Site ranging,with small ranging error.