Design And Implementation Of Pipe Gallery Positioning System Based On UWB

The pipe gallery integrates various municipal pipelines such as electricity,communication,gas,etc.,in order to achieve the comprehensive utilization of underground space and the sharing of resources,which is of great significance to the development of the city.In the narrow and long environment of the pipe gallery,high-precision positioning of people and objects during construction or maintenance requires special technical means.According to the characteristics of the environment in the pipe gallery,this thesis chooses the UWB technology to study the location,which has high engineering application value.The main research contents are as follows:First of all,the AML Time of Arrival positioning algorithm(TOA,Time of Arrival)deployed by the anchors with a single baseline is used to realize the two-dimensional positioning of people and objects in the pipe gallery.Theoretical derivation and simulation verify the influence of equidistant and non-equidistant deployment of anchors on the positioning accuracy during single-baseline deployment,and conclude that equidistant deployment of anchors has higher positioning accuracy than non-equidistant deployment.On the basis of equidistant deployment of anchors,the relationship between the size of the interval between anchors,the distance between tags and anchors,and the positioning accuracy are studied.Finally,combined with accuracy and cost,the optimal deployment recommendations for anchors in the pipe gallery are given?Secondly,fusion of AOA(Angle of Arrival)and TOA positioning algorithm AOA/TOA,and with the help of the idea of time division multiple access,realizes the single anchor two-dimensional positioning of the target in the pipe gallery.Theoretical derivation and simulation analyze the influence of angle measurement error,distance measurement error and the relative position of the positioned target on the positioning accuracy.Aiming at the dead zone of the algorithm,the optimal anchor deployment plan is given.Finally,using the dwm1001 and dwm1002 to achieve the two algorithms above.In the simulated scene,through actual measurement data,the impact of multipath effects,clock errors,antenna effects,etc.on the positioning accuracy is analyzed,and corresponding solutions to reduce the impact of errors are given.The experimental results show that the two positioning algorithms proposed in the thesis are feasible.