近年来随着互联网的发展,人们对基于位置的服务LBS(location based service)需求不断增加,而目前像北斗、GPS等导航系统却无法对室内目标进行准确定位.作为室内定位技术之一,超宽带UWB技术由于有着精度高、功耗低、抗多径能力强等优点,目前被广泛应用于高精度室内定位.该文基于DWM1000模块构建了一种UWB定位系统,基于飞行时间的双向测距方法TW-TOF进行测距,采用三边定位法设计实现对移动人员的实时室内定位.针对定位观测数据的误差噪声问题,采用交互多模型IMM卡尔曼滤波方法对定位观测数据进行处理.试验结果显示IMM卡尔曼滤波能有效降低定位数据的噪声干扰,并且有效克服了传统卡尔曼滤波在定位目标做直角转弯等机动时估计误差较大的问题.%In recent years,with the development of the internet,There is a growing demand for LBS(location based service),but at present,navigation systems such as BeiDou and GPS can not locate indoor targets accurately.Ultra wideband UWB technology has been widely used in high-precision indoor positioning because of its high precision,low power consumption and strong anti multipath capability.In this paper,a UWB positioning system based on DWM1000 module was constructed,using a time-of-flight two way ranging method TW-TOF to measure range and using three sides positioning method to design the real-time indoor positioning for mobile personnel.In order to solve the problem of error and noise in location observation data,an interactive multiple model IMM Kalman filtering method has been used to deal with the observed data.The experimental results showed that IMM Kalman filtering can effectively reduce the noise interference of the location data,and effectively overcome the large estimation error of the traditional Kalman filter in the maneuvering of the target corners.
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