有线时钟同步的超宽带3D室内定位

doi:10.3901/JME.2023.10.009

机械工程学报 ›› 2023, Vol. 59 ›› Issue (10): 9-16.doi: 10.3901/JME.2023.10.009

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有线时钟同步的超宽带3D室内定位

王远西¹, 张浩¹, 房宏², 赵荣泳¹, 王俊¹

1. 同济大学电子与信息工程学院上海 200092;
2. 南京沃旭有限公司南京 211167

收稿日期:2022-05-25 修回日期:2022-10-20 出版日期:2023-05-20 发布日期:2023-07-19
作者简介:王远西,男,1993年出生,博士研究生。主要研究方向为导航定位系统、检测技术与自动化装置。E-mail:2010146@tongji.edu.cn;张浩,男,1962年出生,博士,教授。主要研究方向为智能制造、工业自动化、智能电力。E-mail:Hzhang@tongji.edu.cn;房宏,男,1976年出生,硕士。主要研究方向为UWB定位技术。E-mail:fanghong@woxuwireless.com
基金资助:
国家重点研发计划项目资助(2017YFE0100900)。

3D Indoor Positioning of Autonomous Robots Based on Ultra-wide Band Technology

WANG Yuanxi¹, ZHANG Hao¹, FANG Hong², ZHAO Rongyong¹, WANG Jun¹

1. College of Electronic and Infonnation Engineering, Tongji University, Shanghai 200092;
2. Nanjing Woxu Communication Technology Co., Ltd., Nanjing 211167

Received:2022-05-25 Revised:2022-10-20 Online:2023-05-20 Published:2023-07-19

摘要/Abstract

摘要： 针对三维室内超宽带定位过程中非视距目标定位的静态和动态误差问题,提出一种基于自适应卡尔曼滤波的有线时钟同步3D室内定位测量方法。采用基于到达时间定位原理的非视距(Non line of sight, NLOS)误差模型和基站有线时钟同步技术,搭建立体基站空间布局和系统架构。在自适应卡尔曼滤波过程中,通过自适应因子修正增益矩阵,达到在三维空间上减小定位误差。经行业权威机构测试,在室内工业环境下,超宽带3D定位算法水平定位精度优于100 mm,高程定位精度小于200 mm,且漂移小稳定性高,进一步提高车间移动作业定位的精度。

关键词: 3D室内定位, 立体超宽带, 卡尔曼滤波, 有线时钟同步, 动态误差

Abstract: Aiming at the non line of sight(NLOS) error problem in the process of 3D indoor ultra wide band(UWB) positioning, a wired clock synchronization 3D indoor positioning measurement method based on adaptive kalman filter is proposed. The NLOS error model based on the time of arrival positioning principle and the base station wired clock synchronization technology measures are adopted to build a three-dimensional base station architecture. In the process of adaptive Kalman filter, the gain matrix is modified by adaptive factor, so as to reduce the positioning error in three-dimensional space. Authority testing shows that in the indoor industrial environment, the horizontal positioning accuracy of UWB 3D positioning algorithm is better than 100 mm, and the elevation positioning accuracy is less than 200 mm. With small drift and high stability, the accuracy of workshop logistics positioning is further enhanced.

Key words: 3D indoor positioning, 3D-UWB, Kalman filtering, wired clock synchronization, dynamic error

中图分类号:

TN966

王远西, 张浩, 房宏, 赵荣泳, 王俊. 有线时钟同步的超宽带3D室内定位[J]. 机械工程学报, 2023, 59(10): 9-16.

WANG Yuanxi, ZHANG Hao, FANG Hong, ZHAO Rongyong, WANG Jun. 3D Indoor Positioning of Autonomous Robots Based on Ultra-wide Band Technology[J]. Journal of Mechanical Engineering, 2023, 59(10): 9-16.

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有线时钟同步的超宽带3D室内定位

3D Indoor Positioning of Autonomous Robots Based on Ultra-wide Band Technology

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