矿井NLOS环境下改进UKF超宽带定位算法

(西安科技大学 通信与信息工程学院,陕西 西安 710054)

通信工程; 超宽带; 非视距; 接收信号强度; 无迹卡尔曼滤波; 定位

Research on improved UKF UWB localization algorithm in mine NLOS environment
LI Xu-hong,ZHANG Tong-li,ZHANG Yu-zhi

(College of Communication and Information Engineering,Xi'an University of Science and Technology,Xi'an 710054,China)

communication engineering; UWB; NLOS; RSSI; UKF; location

DOI: 10.13800/j.cnki.xakjdxxb.2018.0517

备注

由于矿井下巷道空间有限且存在弯曲,因此通信传播大多为非视距(NLOS)传播环境。传统的基于距离的无线传感网络定位技术易产生较大误差,从而导致定位精度不高。超宽带(UWB)信号具有穿透能力强、抗多径能力强的特点,能够提供较高的定位精度,因此成为NLOS环境下定位的首选。针对NLOS环境下的定位精度不高的问题,在接收信号强度(RSSI)测距和三边算法联合定位的基础上,提出以联合定位得到的初始坐标做为无迹卡尔曼滤波(UKF)算法的观测值,并对UKF的测量更新方程进行修正,使该算法能适应NLOS环境下的定位跟踪。通过仿真验证并与扩展卡尔曼滤波(EKF)算法进行比较,在NLOS环境下改进的UKF定位算法,能够对目标进行实时跟踪并提高定位的精度。

Due to the limited space and bend in the tunnel under the mine,communication propagation is largely non-line of sight(NLOS)propagation environment.The traditional localization technology of wireless sensor network based on distance causing large errors easily,thus the positioning accuracy is low.Ultra wideband(UWB)signals have the characteristics of strong penetrating ability and strong anti multipath capability,providing a high positioning accuracy.Therefore it becomes the preferred location method in NLOS environment aimed at the location and tracking problem in NLOS environment,initial positioning coordinate was achieved by Received Signal Strength Indication(RSSI)and three side algorithm,and the initial coordinates obtained by joint positioning as the observation value of Untraced Kalman filter(UKF)algorithm.The measurement update equation of UKF was modified so that it could adapt to the tracking and positioning in NLOS environment.Compared with the extended Kalman filter(EKF)algorithm,the improved UKF localization algorithm in NLOS environment can track the target in real time and improve the positioning accuracy.