随着“互联网+”的提出以及物联网技术的不断发展，各行业对人员、货物等进行定位的场景在不断增多；与此同时，安防监控、航空航天、无人工业化操作、海域勘探、数字化旅游等新兴领域对室内定位系统的需求也在日益增强。针对不同需求，学术界和工业界开发了多种定位技术，它们在定位适用性、定位精度等方面存在较大的差异。相比其他定位方式，超宽带（UWB）定位技术在精确度、实时性能和数据可扩展方面具有独特的优势，通过改进基于到达时间差（TDOA）的算法，降低了时钟同步的难度，联合卡尔曼滤波进一步消除了传输过程中的误差干扰，最终使得室内定位更加精确。%With the presentation of ″Internet+″ and continuous development of Internet of Things technology,the scenes to locate the staff and goods are increasing. At the same time,the demands of emerging fields(such as security monitoring,aero⁃space,unmanned industrialization operation,seas exploration,digital tourism)for indoor positioning are growing. To satisfy dif⁃ferent requirements,various positioning technologies were developed by the academia and industry,but they have great dif⁃ferences in the aspects of positioning applicability,positioning accuracy,etc. In comparison with other positioning methods,the UWB(ultra wideband)positioning technology has the unique advantages in positioning accuracy,real⁃time performance and data scalability. In this paper,the algorithm based on TDOA (time difference of arrival) was improved to reduce the difficulty of clock synchronization,and in combination with Kalman filtering,the error interference in transmission process was eliminated. The method can make the indoor positioning more accurately.
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