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

doi:10.3901/JME.2023.10.009

Abstract

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

CLC Number:

TN966

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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