设计了一个基于UWB的室内三维跟踪系统,通过增加一个增补矩阵解决飞行时间测距法(TOF)中无闭合解的问题,再结合卡尔曼滤波实现标签的动态跟踪。基站与标签均采用STM32系列芯片作为CPU,DW1000作为核心通信元器件。实验结果证明,本系统效果较好,不会随着室内环境的改变增加硬件开销,具有较好的鲁棒性。
Abstract
In the paper,a indoor 3D tracking system is designed based on UWB,by adding a supplementary matrix to solve time-of-flight ranging method (TOF) in the closed solution of the problem,combined with Kalman filter to realize the dynamic tracking labels.Both the base station and tags use STM32 series chips as the CPU,and DW1000 as the core communication component.The experiment results show that the system effect is good,not with the change of the indoor environment to increase the hardware cost.The system has robustness.
关键词
UWB /
TOF /
增补矩阵 /
卡尔曼滤波
Key words
UWB /
TOF /
supplementary matrix /
Kalman filter
{{custom_sec.title}}
{{custom_sec.title}}
{{custom_sec.content}}
参考文献
[1] Shyam S,Juliet S,Ezra K.A UWB System Model for Patient Tracking and Monitoring for Smart Healthcare[C]//2022 6th International Conference on Devices, Circuits and Systems (ICDCS).IEEE,2022:32-37.
[2] Yan J X,Yang X F,Meng Z H,et al.Tracking of ground targets by quadrotor UAV based on UWB positioning technology[C]//2019 IEEE 28th International Symposium on Industrial Electronics (ISIE).IEEE,2019:676-681.
[3] Shi Z,Li H,Lin H,et al.A nano-quadcopter formation flight system based on uwb indoor positioning technology[C]//2018 13th International Conference on Computer Science & Education (ICCSE).IEEE,2018:1-4.
[4] Zihajehzadeh S,Yoon P K,Kang B S,et al.UWB-aided inertial motion capture for lower body 3-D dynamic activity and trajectory tracking[J].IEEE Transactions on Instrumentation and Measurement,2015,64(12):3577-3587.
[5] Djaja-Josko V,Kolakowski J.A new method for wireless synchronization and TDOA error reduction in UWB positioning system[C]//2016 21st International Conference on Microwave, Radar and Wireless Communications (MIKON).IEEE,2016:1-4.
[6] Ding L,Zhu X,Zhou T,et al.Research on UWB-based indoor ranging positioning technolog and a method to improve accuracy[C]//2018 IEEE Region Ten Symposium (Tensymp).IEEE,2018:69-73.
[7] 曹洁,吴尧帅,李伟,等.基于改进TDOA的近场声源鲁棒定位方法研究[J].计算机应用与软件,2018,35(4):102-108.
[8] 白裔峰,肖建,于龙.分块核偏最小二乘法[J].西南交通大学学报,2007,42(5):626-630.
PDF(1363 KB)
