Research On UWB Positioning Model Considering Ranging Error And Dynamic Networking Technology

Navigation and positioning are closely related to national defense construction,social ecological development,high-quality economic transformation and improvement of people's livelihood,and are the important position information support for the construction of digital China and smart city.With the completion of the construction of the Beidou-3(GNSS),outdoor location service with centimeter level positioning accuracy tends to be mature.However,the GNSS signal is unable to penetrate the wall into a vast indoor or underground space that accounts for 70%-90% of people's activity time,that resulting in a lag in the development of indoor navigation and the growing demand cannot be satisfied.Aiming at the problem of high-precision positioning of complex indoor/underground scenes,the UWB high-precision positioning model and UWB dynamic networking technology are studied in this paper.The content includes UWB positioning algorithm,UWB ranging error correction model,UWB positioning model,UWB positioning anchor dynamic networking and other aspects.The key innovative achievements are as follows:1)Aiming at the multi-sides positioning requirements,such as variable complex indoor scene,cost space adaptation,system robust accuracy requirements,etc.,cannot be met using single positioning algorithm,high-precision positioning methods or algorithms are studied based on a variety of positioning scenarios in this paper,respectively.First of all,based on straight and narrow scene,two anchors one-dimension robust positioning algorithm is proposed,it is more robust and high-precision than the traditional single anchor positioning algorithm.And secondly,based on emergency scene where only two UWB anchors can work,map aided two anchors positioning algorithm is proposed.The mathematical principle of two anchors positioning is explored.A strategy for quick selection of fuzzy coordinates is constructed.The positioning accuracy is about 0.24 m in the empty room.Finally,three positioning algorithms(LS estimation,TLS-Taylor iteration and improved REKF)are studied based on regular indoor scene.Simulation experiments show that indoor positioning accuracy is about 0.2 meters and REKF has strong anti-roughness capability.2)Aiming at the problem of ranging error existing in UWB ranging value of positioning system,the sources and types of UWB ranging error are analyzed,the error correction model of UWB ranging system is built based on polynomial fitting functions,HPF,etc.,the UWB ranging gross error processing model is built based on distance filtering theory and RKF algorithm.The UWB error correction method is based on these two models.The experimental results show that the average ranging error is reduced by 77.4% in the range of 28 meters,and the gross error can be effectively resisted.3)The existing common UWB positioning models seldom consider the UWB ranging error.A UWB positioning model considering ranging error is proposed in this paper,which corrects the ranging error before implementing the positioning algorithm.The experimental results show that the UWB ranging system error makes the UWB dynamic positioning trajectory offset significantly.And the average positioning error of the model is reduced by66.67%.4)Aiming at the principle of UWB positioning benchmark construction,static networking technology is studied.Through the experimental analysis about five correlation factors,a non-DOP fast networking emergency UWB anchor layout scheme is established,which takes the positioning area as the center,the antenna is vertical upward,the number of anchors is as many as possible,and the network is rectangular.Aiming at the requirements of UWB positioning benchmark structure in real-time,the recursive dynamic networking method is studied.A centralized dynamic networking method is proposed by introducing the MDS algorithm of psychology in this paper,which can effectively avoid the error accumulation problem of recursive dynamic networking.Based on the above results,the verification experiments analysis are carried out in the underground fully mechanized mining face in this paper.In the face of complex and strong interference positioning scene,the dynamic construction of UWB positioning datum and sub meter precision pedestrian positioning are realized,which fully verifies the high quality and robustness of the positioning model and networking algorithm.